2026-05-29T22:33:35Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/236932026-02-03T10:53:14Zcom_10630_2254col_10630_37953

00925njm 22002777a 4500 dc Matez-Bandera, Jose Luis author González-Monroy, Javier author González-Jiménez, Antonio Javier author 2022 In this paper, we present an attention mechanism for mobile robots to face the problem of place categorization. Our approach, which is based on active perception, aims to capture images with characteristic or distinctive details of the environment that can be exploited to improve the efficiency (quickness and accuracy) of the place categorization. To do so, at each time moment, our proposal selects the most informative view by controlling the line-of-sight of the robot’s camera through a pan-only unit. We root our proposal on an information maximization scheme, formalized as a next-best-view problem through a Markov Decision Process (MDP) model. The latter exploits the short-time estimated navigation path of the robot to anticipate the next robot’s movements and make consistent decisions. We demonstrate over two datasets, with simulated and real data, that our proposal generalizes well for the two main paradigms of place categorization (object-based and image-based), outperforming typical camera-configurations (fixed and continuously-rotating) and a pure-exploratory approach, both in quickness and accuracy. Matez-Bandera, J. L., Monroy, J., & Gonzalez-Jimenez, J. (2022). Efficient semantic place categorization by a robot through active line-of-sight selection. Knowledge-Based Systems, 240, 108022. https://doi.org/https://doi.org/10.1016/j.knosys.2021.108022 https://hdl.handle.net/10630/23693 https://doi.org/10.1016/j.knosys.2021.108022 Robots autónomos Efficient semantic place categorization by a robot through active line-of-sight selection