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Proceedings Paper

Cognitive object recognition system (CORS)
Author(s): Chaitanya Raju; Karthik Mahesh Varadarajan; Niyant Krishnamurthi; Shuli Xu; Irving Biederman; Troy Kelley
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Paper Abstract

We have developed a framework, Cognitive Object Recognition System (CORS), inspired by current neurocomputational models and psychophysical research in which multiple recognition algorithms (shape based geometric primitives, 'geons,' and non-geometric feature-based algorithms) are integrated to provide a comprehensive solution to object recognition and landmarking. Objects are defined as a combination of geons, corresponding to their simple parts, and the relations among the parts. However, those objects that are not easily decomposable into geons, such as bushes and trees, are recognized by CORS using "feature-based" algorithms. The unique interaction between these algorithms is a novel approach that combines the effectiveness of both algorithms and takes us closer to a generalized approach to object recognition. CORS allows recognition of objects through a larger range of poses using geometric primitives and performs well under heavy occlusion - about 35% of object surface is sufficient. Furthermore, geon composition of an object allows image understanding and reasoning even with novel objects. With reliable landmarking capability, the system improves vision-based robot navigation in GPS-denied environments. Feasibility of the CORS system was demonstrated with real stereo images captured from a Pioneer robot. The system can currently identify doors, door handles, staircases, trashcans and other relevant landmarks in the indoor environment.

Paper Details

Date Published: 7 May 2010
PDF: 10 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 76920L (7 May 2010); doi: 10.1117/12.853021
Show Author Affiliations
Chaitanya Raju, UtopiaCompression Corp. (United States)
Karthik Mahesh Varadarajan, UtopiaCompression Corp. (United States)
Niyant Krishnamurthi, UtopiaCompression Corp. (United States)
Shuli Xu, UtopiaCompression Corp. (United States)
Irving Biederman, The Univ. of Southern California (United States)
Troy Kelley, U.S. Army Research Lab. (United States)


Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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