Novelty Detection for Robot Neotaxis

A Tale of Two Filters - On-Line Novelty Detection

For mobile robots, as well as other learning systems, the ability to highlight unexpected features of their environment – novelty detection – is very useful. One particularly important application for a robot equipped with novelty detection is inspection, highlighting potential problems in an environment. In this paper two novelty filters, both of which are capable of on-line and off-line novel...

On-line Visual Novelty Detection in Autonomous Mobile Robots

Novelty-Based Visual Inspection Using Mobile Robots

In this paper we present a novelty detection mechanism in which a mobile robot learns a model for its environment through visual exploration. Once the learning process is finished, the robot can be used to inspect the environment and highlight stimuli that do not fit the acquired model of normality. Experimental results from a visual inspection task involving the detection of arbitrary objects ...

Incremental PCA: An Alternative Approach for Novelty Detection

Exploration and inspection of dynamic environments using mobile robots are applications that benefit immensely from novelty detection algorithms. In this paper we propose the use of a new approach for on-line novelty detection based on incremental Principal Component Analysis and compare its performance and functionality with a previously studied technique based on a GWR neural network. We have...

Novelty Detection as an Intrinsic Motivation for Cumulative Learning Robots

Novelty detection is an inherent part of intrinsic motivations and constitutes an important research issue for the effective and long-term operation of intelligent robots designed to learn, act and make decisions based on their cumulative knowledge and experience. Our approach to novelty detection is from the perspective that the robot ignores perceptions that are already known, but is able to ...