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Active Classifier Selection for RGB-D Object Categorization using a Markov Random Field Ensemble Method

Durner, Maximilian and Marton, Zoltan-Csaba and Hillenbrand, Ulrich and Ali, Haider and Kleinsteuber, Martin (2016) Active Classifier Selection for RGB-D Object Categorization using a Markov Random Field Ensemble Method. In: Ninth International Conference on Machine Vision (ICMV2016). The 9th International Conference on Machine Vision, 18-20 Nov 2016, Nice, France.

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Official URL: http://icmv.org/


In this work, a new ensemble method for the task of category recognition in different environments is presented. The focus is on service robotic perception in an open environment, where the robot’s task is to recognize previously unseen objects of predefined categories, based on training on a public dataset. We propose an ensemble learning approach to be able to flexibly combine complementary sources of information (different state-of-the-art descriptors computed on color and depth images), based on a Markov Random Field (MRF). By exploiting its specific characteristics, the MRF ensemble method can also be executed as a Dynamic Classifier Selection (DCS) system. In the experiments, the committee- and topology-dependent performance boost of our ensemble is shown. Despite reduced computational costs and using less information, our strategy performs on the same level as common ensemble approaches. Finally, the impact of large differences between datasets is analyzed.

Item URL in elib:https://elib.dlr.de/108578/
Document Type:Conference or Workshop Item (Speech)
Additional Information:Selected as the best oral presentation of the conference
Title:Active Classifier Selection for RGB-D Object Categorization using a Markov Random Field Ensemble Method
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Durner, MaximilianMaximilian.Durner (at) dlr.deUNSPECIFIED
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.deUNSPECIFIED
Hillenbrand, UlrichUlrich.Hillenbrand (at) dlr.deUNSPECIFIED
Ali, HaiderHaider.Ali (at) dlr.deUNSPECIFIED
Kleinsteuber, MartinTechnical University of MunichUNSPECIFIED
Date:November 2016
Journal or Publication Title:Ninth International Conference on Machine Vision (ICMV2016)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:ensemble learning, active classification, RGB-D object recognition
Event Title:The 9th International Conference on Machine Vision
Event Location:Nice, France
Event Type:international Conference
Event Dates:18-20 Nov 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Durner, Maximilian
Deposited On:17 Jul 2017 10:23
Last Modified:31 Jul 2019 20:05

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