Pubblicazioni

Autori:

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

Titolo:

Unsupervised Active Visual Search with Monte Carlo Planning under Uncertain Detections

Anno:

2024

Tipologia prodotto:

Articolo in Rivista

Tipologia ANVUR:

Articolo su rivista

Lingua:

Inglese

Referee:

Sì

Nome rivista:

IEEE Transactions on Pattern Analysis and Machine Intelligence

ISSN Rivista:

0162-8828

N° Volume:

46

Numero o Fascicolo:

12

Intervallo pagine:

11047-11058

Parole chiave:

Active Visual Serach, Monte Carlo Tree Search

Breve descrizione dei contenuti:

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.

Pagina Web:

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

Id prodotto:

141262

Handle IRIS:

11562/1138986

ultima modifica:

2 dicembre 2024

Citazione bibliografica:

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

Consulta la scheda completa presente nel repository istituzionale della Ricerca di Ateneo