Publication Details

Seyed (Pourya) Hoseini, Janelle Blankenburg, Mircea Nicolescu, Monica Nicolescu, and David Feil-Seifer. "An Active Robotic Vision System with a Pair of Moving and Stationary Cameras." In Proceedings of the International Symposium on Visual Computing (ISVC), Lake Tahoe, NV, Oct 2019. doi: 10.1007/978-3-030-33723-0_15 ( pdf )


  • Keywords:
  • perception
  • collaborative robotics
  • task architecture

Abstract

Vision is one of the main potential sources of information for robots to understand their surroundings. For a vision system, a clear and close enough view of objects or events, as well as the viewpoint angle can be decisive in obtaining useful features for the vision task. In order to prevent performance drops caused by inefficient camera orientations and positions, manipulating cameras, which falls under the domain of active perception, can be a viable option in a robotic environment. In this paper, a robotic object detection system is proposed that is capable of determining the confidence of recognition after detecting objects in a camera view. In the event of a low confidence, a secondary camera is moved toward the object and performs an independent detection round. After matching the objects in the two camera views and fusing their classification decisions through a novel transferable belief model, the final detection results are obtained. Real world experiments show the efficacy of the proposed approach in improving the object detection performance, especially in the presence of occlusion.

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

@inproceedings{hoseini2019an,
  title={An Active Robotic Vision System with a Pair of Moving and Stationary Cameras},
  author={Seyed (Pourya) Hoseini and Janelle Blankenburg and Mircea Nicolescu and Monica Nicolescu and David Feil-Seifer},
  year={2019},
  month={October},
  address={Lake Tahoe, NV},
  doi={10.1007/978-3-030-33723-0_15},
  booktitle={Proceedings of the International Symposium on Visual Computing (ISVC)},
}

HTML Reference

<span class="authors">Seyed (Pourya) Hoseini, Janelle Blankenburg, Mircea Nicolescu, Monica Nicolescu, and David Feil-Seifer</span>. <span class="title">"An Active Robotic Vision System with a Pair of Moving and Stationary Cameras." </span> In <span class="booktitle">Proceedings of the International Symposium on Visual Computing (ISVC)</span>, <span class="address">Lake Tahoe, NV</span>, <span class="month">Oct</span> <span class="year">2019</span>. <span class="ending"></span> <span class="doi">doi: 10.1007/978-3-030-33723-0_15</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

DURIP: Humanoid Platforms for Human-Robot Collaboration, Office of Naval Research (ONR) PI: Monica Nicolescu, co-PI: David Feil-Seifer, Mircea Nicolescu, Amount: $312,000, May 1, 2014 - June 30, 2015