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Robust object detection at regions of interest with an application in ball recognition

: Mitri, S.; Frintrop, S.; Pervölz, K.; Surmann, H.; Nüchter, A.


IEEE Robotics and Automation Society:
IEEE International Conference on Robotics and Automation 2005 : ICRA 2005, Barcelona, April 18-22, 2005. Proceedings. Robots get Closer to Humans. DVD conference and video proceedings
Piscataway, NJ: IEEE, 2005
ISBN: 0-7803-8915-8
International Conference on Robotics and Automation (ICRA) <2005, Barcelona>
Conference Paper
Fraunhofer AIS ( IAIS) ()

In this paper, we present a new combination of a biologically inspired attention system (VOCUS – Visual Object detection with a CompUtational attention System) with a robust object detection method. As an application, we built a reliable system for ball recognition in the RoboCup context. Firstly, VOCUS finds regions of interest generating a hypothesis for possible locations of the ball. Secondly, a fast classifier verifies the hypothesis by detecting balls at regions of interest. The combination of both approaches makes the system highly robust and eliminates false detections. Furthermore, the system is quickly adaptable to balls in different scenarios: The complex classifier is universally applicable to balls in every context and the attention system improves the performance by learning scenario-specific features quickly from only a few training examples.