A Planning Approach to Active Visual Search in Large Environments

Moritz Göbelbecker, Alper Aydemir, Andrzej Pronobis, Kristoffer Sjöö, Patric Jensfelt

Abstract: In this paper we present a principled planner based approach to the active visual object search problem in unknown environments. We make use of a hierarchical planner that combines the strength of decision theory and heuristics. Furthermore, our object search approach leverages on the conceptual spatial knowledge in the form of object co-occurrences and semantic place categorisation. A hierarchical model for representing object locations is presented with which the planner is able to perform indirect search. Finally we present real world experiments to show the feasibility of the approach.