AHMED, M Shuja, SAATCHI, Reza and CAPARRELLI, Fabio (2013). An Efficient Approach To Object Recognition For Mobile Robots. In: BENAVENTE-PECES, Cesar and FILIPE, Joaquim, (eds.) Proceedings of the 3rd International Conference on Pervasive Embedded Computing and Communication Systems. Scitepress, 60-65.
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13709:45212
Abstract
In robotics, the object recognition approaches developed so far have proved very valuable, but their high
memory and processing requirements make them suitable only for robots with high processing capability
or for offline processing. When it comes to small size robots, these approaches are not effective and light-
weight vision processing is adopted which causes a big drop in recognition performance. In this research,
a computationally expensive, but efficient appearance-based object recognition approach is considered and
tested on a small robotic platform which has limited memory and processing resources. Rather than processing
the high resolution images, all the times, to perform recognition, a novel idea of switching between high and
low resolutions, based on the “distance to object” is adopted. It is also shown that much of the computation
time can be saved by identifying the irrelevant information in the images and avoid processing them with
computationally expensive approaches. This helps to bridge the gap between the computationally expensive
approaches and embedded platform with limited processing resources.
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