Publications

Authors:

Taioli, Francesco; Giuliari, Francesco; Wang, Yiming; Berra, Riccardo; Castellini, Alberto; Del Bue, Alessio; Farinelli, Alessandro; Cristani, Marco; Setti, Francesco

Title:

Unsupervised Active Visual Search with Monte Carlo Planning under Uncertain Detections

Year:

2024

Type of item:

Articolo in Rivista

Tipologia ANVUR:

Articolo su rivista

Language:

Inglese

Referee:

Sì

Name of journal:

IEEE Transactions on Pattern Analysis and Machine Intelligence

ISSN of journal:

0162-8828

N° Volume:

46

Number or Folder:

12

Page numbers:

11047-11058

Keyword:

Active Visual Serach, Monte Carlo Tree Search

Short description of contents:

We propose a solution for Active Visual Search of objects in an environment, whose 2D floor map is the only known information. Our solution has three key features that make it more plausible and robust to detector failures compared to state-of-the-art methods: it is unsupervised as it does not need any training sessions. During the exploration, a probability distribution on the 2D floor map is updated according to an intuitive mechanism, while an improved belief update increases the effectiveness of the agent's exploration. We incorporate the awareness that an object detector may fail into the aforementioned probability modelling by exploiting the success statistics of a specific detector. Our solution is dubbed POMP-BE-PD (Pomcp-based Online Motion Planning with Belief by Exploration and Probabilistic Detection). It uses the current pose of an agent and an RGB-D observation to learn an optimal search policy, exploiting a POMDP solved by a Monte-Carlo planning approach. On the Active Vision Dataset Benchmark, we increase the average success rate over all the environments by a significant 35% while decreasing the average path length by 4% with respect to competing methods. Thus, our results are state-of-the-art, even without any training procedure.

Web page:

https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10659171

Product ID:

141262

Handle IRIS:

11562/1138986

Last Modified:

December 2, 2024

Bibliographic citation:

Taioli, Francesco; Giuliari, Francesco; Wang, Yiming; Berra, Riccardo; Castellini, Alberto; Del Bue, Alessio; Farinelli, Alessandro; Cristani, Marco; Setti, Francesco, Unsupervised Active Visual Search with Monte Carlo Planning under Uncertain Detections «IEEE Transactions on Pattern Analysis and Machine Intelligence» , vol. 46 , n. 12 , 2024 , pp. 11047-11058

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