Talks and Poster Presentations (with Proceedings-Entry):

E. Langer, B. Ridder, M. Cashmore, D. Magazzeni, M. Zillich, M. Vincze:
"On-the-Fly Detection of Novel Objects in Indoor Environments";
Talk: IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO), Macau, China; 12-05-2017 - 12-08-2017; in: "IEEE-ROBIO 2017", (2017), 8 pages.

English abstract:
Many robotic applications require the detection
of new objects in known environments. Common approaches
navigate in the environment using pre-defined waypoints and
segment the scene at these waypoints. Without knowing where
to find new objects, this process can be time-consuming and
prone to detecting false positives. To overcome these limitations
we propose an approach that combines navigation and attention
in order to detect novel objects rapidly. We exploit the octomap,
created by the robot while it navigates in the environment, as a
pre-attention filter to suggest potential regions of interest. These
regions are then visited to obtain a close-up view for better
object detection and recognition. We evaluate our approach in
a simulated as well as a real environment. The experiments show
that our approach outperforms previous approaches in terms
of runtime and the number of segmentation actions required
to find all novel objects in the environment.

Created from the Publication Database of the Vienna University of Technology.