Visual anomaly detection under temporal and spatial non-uniformity for news finding robot

Takahiro Suzuki, Fumihiro Bessho, Tatsuya Harada, Yasuo Kuniyoshi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

In this paper, we propose a news-gathering mobile robot system, and the novel visual anomaly detection method as the core function of news detection in the real world. Visual anomaly detection is important and widely applicable not only to the news-gathering robot but also to the security systems. However, visual anomaly detection from the mobile robot is highly challenging, because the appearances of images captured by the moving robot are dynamically changing. In consequence, the number of observed images at the same location becomes small, and the sampling interval of those images is not constant. To tackle this problem, we developed a new method to incorporate many samples observed at different locations as previous knowledge, which implicitly represent semantically similar to the intended location. Also, we developed a new statistical model, which explicitly considers sampling interval of input images, whereas conventional methods ignore correlation among samples. Experimental results demonstrate that our method outperforms conventional methods, and our mobile robot system including the proposed method finds, investigates, and publishes news of a local community of the real world.

本文言語English
ホスト出版物のタイトルIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
ホスト出版物のサブタイトルCelebrating 50 Years of Robotics
ページ1214-1220
ページ数7
DOI
出版ステータスPublished - 2011 12 29
外部発表はい
イベント2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
継続期間: 2011 9 252011 9 30

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
国/地域United States
CitySan Francisco, CA
Period11/9/2511/9/30

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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