Publication Details

Seyed (Pourya) Hoseini, Janelle Blankenburg, Mircea Nicolescu, Monica Nicolescu, and David Feil-Seifer. "Active Eye-in-Hand Data Management to Improve the Robotic Object Detection Performance." In Computers, 8(4), Sep 2019. doi: 10.3390/computers8040071 ( pdf )


  • Keywords:
  • perception
  • collaborative robotics
  • humanoids

Abstract

Adding to the number of sources of sensory information can be efficacious in enhancing the object detection capability of robots. In the realm of vision-based object detection, in addition to improving the general detection performance, observing objects of interest from different points of view can be central to handling occlusions. In this paper, a robotic vision system is proposed that constantly uses a 3D camera, while actively switching to make use of a second RGB camera in cases where it is necessary. The proposed system detects objects in the view seen by the 3D camera, which is mounted on a humanoid robot’s head, and computes a confidence measure for its recognitions. In the event of low confidence regarding the correctness of the detection, the secondary camera, which is installed on the robot’s arm, is moved toward the object to obtain another perspective of the object. With the objects detected in the scene viewed by the hand camera, they are matched to the detections of the head camera, and subsequently, their recognition decisions are fused together. The decision fusion method is a novel approach based on the Dempster–Shafer evidence theory. Significant improvements in object detection performance are observed after employing the proposed active vision system.

Author Details

Name: Seyed (Pourya) Hoseini
Status: Active

Name: Janelle Blankenburg
email: jjblankenburg@nevada.unr.edu
Website: jblankenburg.github.io
Status: Active

Name: Mircea Nicolescu
Status: Inactive

Name: Monica Nicolescu
Status: Active

Name: David Feil-Seifer
email: dave@cse.unr.edu
Website: http://cse.unr.edu/~dave
Phone: (775) 784-6469
Status: Active

BibTex Reference

@article{hoseini2019active,
  title={Active Eye-in-Hand Data Management to Improve the Robotic Object Detection Performance},
  author={Seyed (Pourya) Hoseini and Janelle Blankenburg and Mircea Nicolescu and Monica Nicolescu and David Feil-Seifer},
  year={2019},
  month={September},
  journal={Computers},
  volume={8},
  number={4},
  doi={10.3390/computers8040071},
}

HTML Reference

<span class="authors">Seyed (Pourya) Hoseini, Janelle Blankenburg, Mircea Nicolescu, Monica Nicolescu, and David Feil-Seifer</span>. <span class="title">"Active Eye-in-Hand Data Management to Improve the Robotic Object Detection Performance." </span> <span class="status">In</span> <span class="booktitle">Computers, </span><span class="volume">8</span><span class="number">(4)</span><span class="pg"></span>, <span class="month">Sep</span> <span class="year">2019</span>. <span class="ending"></span> <span class="doi">doi: 10.3390/computers8040071</span>

Support

Designing Collaborator Robots for Highly-Dynamic Multi-Human, Multi-Robot Teams, Office of Naval Research (ONR) PI: Monica Nicolescu, co-PI: David Feil-Seifer, Amount: $656,511, April 1, 2016 - March 31, 2019