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Proceedings Paper

A numerical study of sensory-guided multiple views for improved object identification
Author(s): B. A. Blakeslee; E. G. Zelnio; D. E. Koditschek
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Paper Abstract

We explore the potential on-line adjustment of sensory controls for improved object identification and discrimination in the context of a simulated high resolution camera system carried onboard a maneuverable robotic platform that can actively choose its observational position and pose. Our early numerical studies suggest the significant efficacy and enhanced performance achieved by even very simple feedback-driven iteration of the view in contrast to identification from a fixed pose, uninformed by any active adaptation. Specifically, we contrast the discriminative performance of the same conventional classification system when informed by: a random glance at a vehicle; two random glances at a vehicle; or a random glance followed by a guided second look. After each glance, edge detection algorithms isolate the most salient features of the image and template matching is performed through the use of the Hausdor↵ distance, comparing the simulated sensed images with reference images of the vehicles. We present initial simulation statistics that overwhelmingly favor the third scenario. We conclude with a sketch of our near-future steps in this study that will entail: the incorporation of more sophisticated image processing and template matching algorithms; more complex discrimination tasks such as distinguishing between two similar vehicles or vehicles in motion; more realistic models of the observers mobility including platform dynamics and eventually environmental constraints; and expanding the sensing task beyond the identification of a specified object selected from a pre-defined library of alternatives.

Paper Details

Date Published: 20 June 2014
PDF: 11 pages
Proc. SPIE 9091, Signal Processing, Sensor/Information Fusion, and Target Recognition XXIII, 909116 (20 June 2014); doi: 10.1117/12.2050655
Show Author Affiliations
B. A. Blakeslee, Univ. of Pennsylvania (United States)
E. G. Zelnio, Air Force Research Lab. (United States)
D. E. Koditschek, Univ. of Pennsylvania (United States)

Published in SPIE Proceedings Vol. 9091:
Signal Processing, Sensor/Information Fusion, and Target Recognition XXIII
Ivan Kadar, Editor(s)

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