能動的分類：理論と水中検査への応用
Active Classification: Theory and Application to Underwater Inspection
自律車両が複数視点から物体を分類する際、情報理論的コストに基づき最適な視点を能動的に選択する確率的アルゴリズムを提案し、水中検査（合成深度マップの3D多面体認識とソナーによる船体検査）で検証した。受動的手法に比べ必要視点数を最大80%削減できることを示した。
著者: Geoffrey A. Hollinger, Urbashi Mitra, Gaurav S. Sukhatme
分類: cs.RO, cs.AI, cs.CV
原文アブストラクト
We discuss the problem in which an autonomous vehicle must classify an object based on multiple views. We focus on the active classification setting, where the vehicle controls which views to select to best perform the classification. The problem is formulated as an extension to Bayesian active learning, and we show connections to recent theoretical guarantees in this area. We formally analyze the benefit of acting adaptively as new information becomes available. The analysis leads to a probabilistic algorithm for determining the best views to observe based on information theoretic costs. We validate our approach in two ways, both related to underwater inspection: 3D polyhedra recognition in synthetic depth maps and ship hull inspection with imaging sonar. These tasks encompass both the planning and recognition aspects of the active classification problem. The results demonstrate that actively planning for informative views can reduce the number of necessary views by up to 80% when compared to passive methods.
