Vision-Based Novelty Detection Using Deep Features and Evolved Novelty Filters for Specific Robotic Exploration and Inspection Tasks.

One of the essential abilities in animals is to detect novelties within their environment. From the computational point of view, novelty detection consists of finding data that are different in some aspect to the known data. In robotics, researchers have incorporated novelty modules in robots to develop automatic exploration and inspection tasks. The visual sensor is one of the preferred sensors to perform this task. However, there exist problems as illumination changes, occlusion, and scale, among others. Besides, novelty detectors vary their performance depending on the specific application scenario. In this work, we propose a visual novelty detection framework for specific exploration and inspection tasks based on evolved novelty detectors. The system uses deep features to represent the visual information captured by the robots and applies a global optimization technique to design novelty detectors for specific robotics applications. We verified the performance of the proposed system against well-established state-of-the-art methods in a challenging scenario. This scenario was an outdoor environment covering typical problems in computer vision such as illumination changes, occlusion, and geometric transformations. The proposed framework presented high-novelty detection accuracy with competitive or even better results than the baseline methods.

Real-Time Hand Posture Recognition for Human-Robot Interaction Tasks.

In this work, we present a multiclass hand posture classifier useful for human-robot interaction tasks. The proposed system is based exclusively on visual sensors, and it achieves a real-time performance, whilst detecting and recognizing an alphabet of four hand postures. The proposed approach is based on the real-time deformable detector, a boosting trained classifier. We describe a methodology to design the ensemble of real-time deformable detectors (one for each hand posture that can be classified). Given the lack of standard procedures for performance evaluation, we also propose the use of full image evaluation for this purpose. Such an evaluation methodology provides us with a more realistic estimation of the performance of the method. We have measured the performance of the proposed system and compared it to the one obtained by using only the sampled window approach. We present detailed results of such tests using a benchmark dataset. Our results show that the system can operate in real time at about a 10-fps frame rate.