Image-based novelty detection for cognitive mobile robots:
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| Main Author: | |
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| Format: | Thesis Book |
| Language: | English |
| Published: |
2012
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| Subjects: | |
| Online Access: | Volltext https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20120430-1087137-1-7 Inhaltsverzeichnis |
| Physical Description: | XVIII, 109 Bl. Ill., graph. Darst. |
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Record in the Search Index
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|---|---|
| adam_text | IMAGE 1
CONTENTS
LIST OF FIGURES XI
LIST OF TABLES XV
ABBREVIATIONS XVII
1 INTRODUCTION 1
1.1 OVERVIEW OF THE DISSERTATION 3
1.2 CONTRIBUTIONS OF THE DISSERTATION 4
2 BACKGROUND AND RELATED WORK 7
2.1 STATISTICAL LEARNING 7
2.1.1 MAXIMUM LIKELIHOOD ESTIMATION 8
2.1.2 BAYESIAN INFERENCE 10
2.2 IMAGE-BASED RENDERING 12
2.2.1 RENDERING WITH NO GEOMETRY 13
2.2.2 RENDERING WITH IMPLICIT GEOMETRY 14
2.2.3 RENDERING WITH EXPLICIT GEOMETRY 15
2.3 ILLUMINATION MODELING AND INTRINSIC IMAGES 16
2.4 ILLUMINATION-INVARIANT CHANGE DETECTION 21
2.5 ATTENTION MODELS, NOVELTY AND SURPRISE DETECTION 22
2.5.1 SALIENCY-BASED VISUAL ATTENTION 23
2.5.2 NOVELTY DETECTION 24
2.5.3 COMPUTATIONAL APPROACHES FOR SURPRISE DETECTION 25
2.5.4 THE ROLE OF SURPRISE IN LEARNING AND VISUAL SEARCH 26
2.6 AUTONOMOUS ACQUISITION OF OBJECT REPRESENTATIONS 27
3 VIEW SYNTHESIS FROM UNSTRUCTURED IMAGE-BASED ENVIRONMENT
REPRESENTATIONS 29 3.1 CAMERA POSE ESTIMATION 29
3.1.1 IMAGE-BASED CAMERA POSE ESTIMATION 29
3.1.2 CAMERA POSE ESTIMATION USING ACTIVE OPTICAL TRACKING SYSTEMS 31
3.2 VIEW-DEPENDENT GEOMETRIC MODELING 33
3.3 VIEW INTERPOLATION 34
3.3.1 VIEW SELECTION 34
3.3.2 TEXTURE BLENDING 36
3.4 RESULTS 37
3.5 SUMMARY 38
IX
HTTP://D-NB.INFO/103252314X
IMAGE 2
CONTENTS
4 A PROBABILISTIC APPEARANCE REPRESENTATION AND ITS APPLICATION TO
SURPRISE DE TECTION 41
4.1 A PROBABILISTIC APPEARANCE REPRESENTATION FOR COGNITIVE ROBOTS 42
4.1.1 BAYESIAN INFERENCE OF MODEL PARAMETERS 42
4.1.2 VIEW INTERPOLATION 45
4.2 COMPUTATION OF SURPRISE MAPS 46
4.3 EXPERIMENTAL RESULTS 47
4.3.1 EVALUATION OF THE BAYESIAN SURPRISE MEASURE BASED ON THE
PROBABILISTIC APPEARANCE PRIOR 49
4.3.2 COMPARISON TO CHANGE DETECTION USING IMAGE-BASED REPRESENTATIONS .
53 4.4 DISCUSSION 58
4.5 SUMMARY 61
5 SURPRISE-DRIVEN ACQUISITION OF OBJECT REPRESENTATIONS 63
5.1 DESCRIPTION OF THE ALGORITHM 64
5.2 EXPERIMENTAL RESULTS 67
5.3 DISCUSSION 72
5.4 SUMMARY 74
6 ILLUMINATION-INVARIANT IMAGE-BASED NOVEL OBJECT DETECTION 77
6.1 ACQUISITION OF ILLUMINATION-INVARIANT IMAGE-BASED ENVIRONMENT
REPRESENTATIONS 77 6.1.1 REGISTRATION OF MULTIPLE IMAGE SEQUENCES 78
6.1.2 COMPUTATION OF ILLUMINATION-INVARIANT IMAGES 79
6.2 STATISTICAL MODELS FOR THE INTENSITY AND SATURATION VALUES IN
ILLUMINATION IMAGES 81 6.3 DETECTION OF NOVEL OBJECTS UNDER VARYING
ILLUMINATION IN ENVIRONMENTS WITH SPECULAR SURFACES 84
6.4 EXPERIMENTAL RESULTS 86
6.4.1 DETECTION OF NOVEL CHANGES IN LAMBERTIAN ENVIRONMENTS 86
6.4.2 DETECTION OF NOVEL CHANGES IN ENVIRONMENTS WITH SPECULAR SURFACES
. . 90 6.5 DISCUSSION 93
6.6 SUMMARY 95
7 CONCLUSION 97
BIBLIOGRAPHY 101
X
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| spelling | Maier, Werner Verfasser aut Image-based novelty detection for cognitive mobile robots Werner A. Maier 2012 XVIII, 109 Bl. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier München, Techn. Univ., Diss., 2012 (DE-588)4113937-9 Hochschulschrift gnd-content Erscheint auch als Online-Ausgabe urn:nbn:de:bvb:91-diss-20120430-1087137-1-7 http://mediatum.ub.tum.de/node?id=1087137 Verlag kostenfrei Volltext https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20120430-1087137-1-7 Resolving-System DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025399844&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Maier, Werner Image-based novelty detection for cognitive mobile robots |
| subject_GND | (DE-588)4113937-9 |
| title | Image-based novelty detection for cognitive mobile robots |
| title_auth | Image-based novelty detection for cognitive mobile robots |
| title_exact_search | Image-based novelty detection for cognitive mobile robots |
| title_full | Image-based novelty detection for cognitive mobile robots Werner A. Maier |
| title_fullStr | Image-based novelty detection for cognitive mobile robots Werner A. Maier |
| title_full_unstemmed | Image-based novelty detection for cognitive mobile robots Werner A. Maier |
| title_short | Image-based novelty detection for cognitive mobile robots |
| title_sort | image based novelty detection for cognitive mobile robots |
| topic_facet | Hochschulschrift |
| url | http://mediatum.ub.tum.de/node?id=1087137 https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20120430-1087137-1-7 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025399844&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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