Novelty-Based Visual Inspection Using Mobile Robots

Visual Novelty Detection for Mobile Inspection Robots

Visual novelty detection for autonomous inspection robots

Mobile robot applications that involve automated exploration and inspection of environments are often dependant on novelty detection, the ability to differentiate between common and uncommon perceptions. Because novelty can be anything that deviates from the normal context, we argue that in order to implement a novelty filter it is necessary to exploit the robot’s sensory data from the ground u...

Incremental PCA: An Alternative Approach for Novelty Detection

Exploration and inspection of dynamic environments using mobile robots are applications that benefit immensely from novelty detection algorithms. In this paper we propose the use of a new approach for on-line novelty detection based on incremental Principal Component Analysis and compare its performance and functionality with a previously studied technique based on a GWR neural network. We have...

Real-time Automated Visual Inspection using Mobile Robots

We present a framework to perform novelty detection using visual input in which a mobile robot first learns a model of normality in its operating environment and later uses this to highlight uncommon visual features that may appear. This ability is of great importance for both robotic exploration and inspection tasks, because it enables the robot to allocate computational and attentional resour...

Visual Novelty Detection for Inspection Tasks using Mobile Robots

Novelty detection – the ability to differentiate between common sensory stimuli and perceptions never experienced before – is a very useful competence for a mobile robot operating in a dynamic environment. Using such an ability, the robot can select which aspects of the environment are unusual and therefore deserve the attention from either a human operator – for instance, in supervised inspect...