Cognitive vision for efficient scene processing and object categorization in highly cluttered environments

Changhyun Choi, Henrik I. Christensen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

One of the key competencies required in modern robots is finding objects in complex environments. For the last decade, significant progress in computer vision and machine learning literatures has increased the recognition performance of well localized objects. However, the performance of these techniques is still far from human performance, especially in cluttered environments. We believe that the performance gap between robots and humans is due in part to humans' use of an attention system. According to cognitive psychology, the human visual system uses two stages of visual processing to interpret visual input. The first stage is a pre-attentive process perceiving scenes fast and coarsely to select potentially interesting regions. The second stage is a more complex process analyzing the regions hypothesized in the previous stage. These two stages play an important role in enabling efficient use of the limited cognitive resources available. Inspired by this biological fact, we propose a visual attentional object categorization approach for robots that enables object recognition in real environments under a critical time limitation. We quantitatively evaluate the performance for recognition of objects in highly cluttered scenes without significant loss of detection rates across several experimental settings.

Original languageEnglish (US)
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages4267-4274
Number of pages8
DOIs
StatePublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

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    Choi, C., & Christensen, H. I. (2009). Cognitive vision for efficient scene processing and object categorization in highly cluttered environments. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 4267-4274). [5354590] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354590