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Presentation
The UMass Mobile Manipulator UMan: An Experimental Platform for Autonomous Mobile Manipulation
The University of Pennsylvania (2006)
  • Dov Katz, University of Massachusetts - Amherst
  • Emily Horrell, University of Massachusetts - Amherst
  • Yuandong Yang, University of Massachusetts - Amherst
  • Brendan Burns, University of Massachusetts - Amherst
  • Thomas Buckley, University of Massachusetts - Amherst
  • Anna Grishkan, University of Massachusetts - Amherst
  • Volodymyr Zhylkovskyy, University of Massachusetts - Amherst
  • Oliver Brock, University of Massachusetts - Amherst
  • Erik G Learned-Miller, University of Massachusetts - Amherst
Abstract

Object identification is the task of identifying specific objects belonging to the same class such as cars. We often need to recognize an object that we have only seen a few times. In fact, we often observe only one example of a particular object before we need to recognize it again. Thus we are interested in building a system which can learn to extract distinctive markers from a single example and which can then be used to identify the object in another image as “same ” or “different”. Previous work by Ferencz et al. introduced the notion of hyper-features, which are properties of an image patch that can be used to estimate the utility of the patch in subsequent matching tasks. In this work, we show that hyper-feature based models can be more efficiently estimated using discriminative training techniques. In particular, we describe a new hyper-feature model based upon logistic regression that shows improved performance over previously published techniques. Our approach significantly outperforms Bayesian face recognition that is considered as a standard benchmark for face recognition

Disciplines
Publication Date
August, 2006
Citation Information
Dov Katz, Emily Horrell, Yuandong Yang, Brendan Burns, et al.. "The UMass Mobile Manipulator UMan: An Experimental Platform for Autonomous Mobile Manipulation" The University of Pennsylvania (2006)
Available at: http://works.bepress.com/erik_learned_miller/37/