New Preprint

December 12, 2009

Online modeling of experience base for potential environmental hazards

Online modeling of experience base for potential environmental hazards

Anytime Online Novelty Detection for Vehicle Safeguarding, by Boris Sofman, J. A. Bagnell, and Anthony Stentz. Currently under review for ICRA 2010.

We present an online novelty detection algorithm that allows a mobile robot to identify stimuli that are outside its experience base, avoiding potentially hazardous situations. This algorithm addresses many of the limitations of existing novelty detection approaches, including sensitivity to high-dimensional and noisy feature spaces and the inability to efficiently update their models online. Additionally, this algorithm has anytime properties that make it highly suitable for mobile robot use. The included appendix provides a proof that the run-time of our algorithm for maintaining previously seen examples is constant-competitive with respect to any other algorithm.

A short video of this system’s performance can be seen by clicking on the image to the left. The novelty model is initialized to be empty and as the environment is perceived by the robot, the model is adjusted online so that future similar stimuli are no longer novel. Novel examples are shown with a red shade.

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