Mars Terrain Image Classification Using Cartesian Genetic Programming #isairas 2012
1. Jürgen ’Juxi’ Leitner
S. Harding, A. Förster, J. Schmidhuber
istituto dalle molle di studi sull’intelligenza artificiale
università della svizzera italiana
idsia / usi / supsi
mars terrain image
classification using CGP
#iSAIRAS 2012
Wednesday, September 5, 2012
2. thanks to G. Metta and IIT for this picture
visual
perception
Wednesday, September 5, 2012
19. classifying
martian
terrain
Wednesday, September 5, 2012
20. martian
terrain classification
I.Halatci,K.Iagnemma,etal.Astudyofvisualand tactile terrain classification and classifier fusion for planetary exploration rovers. Robotica, 26(6):767– 779, 2008.
C. Shang, D. Barnes, and Q. Shen. Facilitating effi- cient mars terrain image classification with fuzzy- rough feature selection. International Journal of Hybrid Intelligent Systems, 8(1):3–13, 2011.
C. Shang and D. Barnes. Classification of mars mcmurdo panorama images using machine learning techniques. Acta Futura, 5:29–38, 2012.
Wednesday, September 5, 2012
21. Shang et al. CGP-IP
martian
terrain classification
I.Halatci,K.Iagnemma,etal.Astudyofvisualand tactile terrain classification and classifier fusion for planetary exploration rovers. Robotica, 26(6):767– 779, 2008.
C. Shang, D. Barnes, and Q. Shen. Facilitating effi- cient mars terrain image classification with fuzzy- rough feature selection. International Journal of Hybrid Intelligent Systems, 8(1):3–13, 2011.
C. Shang and D. Barnes. Classification of mars mcmurdo panorama images using machine learning techniques. Acta Futura, 5:29–38, 2012.
Wednesday, September 5, 2012
22. martian
terrain classification
I.Halatci,K.Iagnemma,etal.Astudyofvisualand tactile terrain classification and classifier fusion for planetary exploration rovers. Robotica, 26(6):767– 779, 2008.
C. Shang, D. Barnes, and Q. Shen. Facilitating effi- cient mars terrain image classification with fuzzy- rough feature selection. International Journal of Hybrid Intelligent Systems, 8(1):3–13, 2011.
C. Shang and D. Barnes. Classification of mars mcmurdo panorama images using machine learning techniques. Acta Futura, 5:29–38, 2012.
Wednesday, September 5, 2012
23. Shang et al. CGP-IP
martian
terrain classification
I.Halatci,K.Iagnemma,etal.Astudyofvisualand tactile terrain classification and classifier fusion for planetary exploration rovers. Robotica, 26(6):767– 779, 2008.
C. Shang, D. Barnes, and Q. Shen. Facilitating effi- cient mars terrain image classification with fuzzy- rough feature selection. International Journal of Hybrid Intelligent Systems, 8(1):3–13, 2011.
C. Shang and D. Barnes. Classification of mars mcmurdo panorama images using machine learning techniques. Acta Futura, 5:29–38, 2012.
Wednesday, September 5, 2012
24. collaboration
if you have (labelled) data
please contact us
we are not martian terrain
specialists :)
juxi@idsia.ch http://Juxi.net/projects
Wednesday, September 5, 2012
25. conclusions
combining cgp with opencv creates possibilities
output: executable, human-readable code
for detection and identification
impressive performance (and robustness)
Wednesday, September 5, 2012
26. thanks
for listening
juxi@idsia.ch http://Juxi.net/projects
further references
Vincent Graziano, Tobias Glasmachers, Tom Schaul, Leo Pape, Giuseppe Cuccu,Jürgen Leitner and Jürgen
Schmidhuber. Artificial Curiosity for Autonomous Space Exploration. Acta Futura, 4, pp.41-52, 2011.
M. Frank, J. Leitner, M. Stollenga, S. Harding, A. Förster, and J. Schmidhuber. The modular behavioral environment
for humanoids and other robots (MoBeE). In Proceedings of the International Conference on Informatics in Control,
Automation and Robotics (ICINCO), 2012.
S. Harding, V. Graziano, J. Leitner, J. Schmidhuber. MT-CGP: Mixed Type Cartesian Genetic Programming. In
Proceedings of the Genetic and Evolutionary Computation Conference (GECCO). Philadelphia, USA. July 2012.
Leitner, J., Harding, S., Förster, A., and Schmidhuber, J.. Mars Terrain Classification using Cartesian Genetic
Programming. In the Proceedings of the International Symposium on AI and Robotics for Space (I-SAIRAS). 2012.
S. Harding, J. Leitner, and J. Schmidhuber. Cartesian genetic programming for image processing. Book Chapter in
Genetic Programming Theory and Practice X. Springer, 2012. (in print)
Leitner, J., Harding, S., Frank, M., Förster, A., and Schmidhuber, J. Towards Spatial Perception: Learning to Locate
Objects From Vision. In Proceedings of the Postgraduate Conference on Robotics and Development of Cognition
RobotDoc, 2012.
J. Leitner, S. Harding, M. Frank, A. Förster, and J. Schmidhuber. Transferring spatial perception between robots
operating in a shared workspace. In Intelligent Robots and Systems, 2012. accepted.
Wednesday, September 5, 2012