Studies in Computational Intelligence. Springer. Volume 262, Dedicated to the Memory of Professor Ryszard S.Michalski ; Selecting which algorithms should be used by a mobile robot computer vision system is a decision that is usually made a priori by the system developer, based on past experience and intuition, not systematically taking into account information that can be found in the images and in the visual process itself to learn which algorithm should be used, in execution time. This paper presents a method that uses Reinforcement Learning to decide which algorithm should be used to recognize objects seen by a mobile robot in an indoor environment, based on simple attributes extracted on-line from the images, such as mean intensity and intensity deviation. Two state-of-the-art object recognition algorithms can be selected: the constellation method proposed by Lowe together with its interest point detector and descriptor, the Scale-Invariant Feature Transform and Nist´er and Stew´enius Vocabulary Tree approach. A set of empirical evaluations was conducted using a image database acquired with a mobile robot in an indoor environment, and results obtained shows that the approach adopted here is very promising. ; This work has been partially funded by the FI grant and the BE grant from the AGAUR, the 2005-SGR-00093 project, supported by the Generalitat de Catalunya, the MIDCBR project grant TIN 2006-15140-C03-01 and FEDER funds. Reinaldo Bianchi is supported by CNPq grant 201591/2007-3. ; Peer reviewed


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    Title :

    Automatic Selection of Object Recognition Methods using Reinforcement Learning



    Publication date :

    2010-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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