research-article

Viewpoint based mobile robotic exploration aiding object search in indoor environment

Authors:

Karthik Desingh,

Akhil Nagariya,

K. Madhava KrishnaAuthors Info & Claims

ICVGIP '12: Proceedings of the Eighth Indian Conference on Computer Vision, Graphics and Image Processing

Article No.: 18, Pages 1 - 8

https://doi.org/10.1145/2425333.2425351

Published: 16 December 2012 Publication History

Abstract

We present a probabilistic method of finding the next best viewpoint that maximizes the chances of finding an object in a known environment for an indoor mobile robot. We make use of the information that is available to a robot in the form of potential locations to search for an object. Extraction of these potential locations and their representation for exploration is explained. This work primarily focuses on placing the robot at its best location in the environment to detect, recognize an object and hence do object search. With experiments done on the exploration, object recognition individually we show the robustness of this approach for object search task. We analyse and compare our method with two other strategies for localizing the object empirically and show unequivocally that the strategy based on the probabilistic formalism in general performs better than the other two.

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Digital Library

Cited By

Kumar GShankar NDidwania HRoychoudhury RBhowmick BKrishna K(2021)GCExp: Goal-Conditioned Exploration for Object Goal Navigation2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)10.1109/RO-MAN50785.2021.9515530(123-130)Online publication date: 8-Aug-2021
https://doi.org/10.1109/RO-MAN50785.2021.9515530

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Viewpoint based mobile robotic exploration aiding object search in indoor environment

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Published In

cover image ACM Other conferences

ICVGIP '12: Proceedings of the Eighth Indian Conference on Computer Vision, Graphics and Image Processing

December 2012

633 pages

ISBN:9781450316606

DOI:10.1145/2425333

Program Chairs:
Bill Triggs
CNRS, France
,
Kavita Bala
Cornell University
,
Sharat Chandran
IIT Bombay, India

Copyright © 2012 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 16 December 2012

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ICVGIP '12

ICVGIP '12: The Eighth Indian Conference on Vision, Graphics and Image Processing

December 16 - 19, 2012

Mumbai, India

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Overall Acceptance Rate 95 of 286 submissions, 33%

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Cited By

Kumar GShankar NDidwania HRoychoudhury RBhowmick BKrishna K(2021)GCExp: Goal-Conditioned Exploration for Object Goal Navigation2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)10.1109/RO-MAN50785.2021.9515530(123-130)Online publication date: 8-Aug-2021
https://doi.org/10.1109/RO-MAN50785.2021.9515530

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