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Pattern Recognition Letters
Volume 23, Issue 8, June 2002, Pages 1031-1038
 
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doi:10.1016/S0167-8655(02)00034-X    How to Cite or Link Using DOI (Opens New Window)
Copyright © 2002 Elsevier Science B.V. All rights reserved.

Visual motion based behavior learning using hierarchical discriminant regression

Changjiang YangCorresponding Author Contact Information, E-mail The Corresponding Author and Juyang WengE-mail The Corresponding Author

Department of Computer Science and Engineering, Michigan State University, East Lansing, MI 48824, USA

Received 23 January 2001; 
revised 10 September 2001. 
Available online 25 January 2002.

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Abstract

This paper presents a new technique which incrementally builds a hierarchical discriminant regression (IHDR) tree for generation of motion based robot reactions. The robot learned the desired reactions from motion change images, without using other pre-defined features. The generation from training cases is accomplished through the automatically constructed IHDR tree, which automatically derives features that are most related to outputs and disregards subspaces that are not related, or less related, to outputs. The real-time speed is achieved through combination of feature space partition and a coarse-to-fine sample search, which results in a logarithmic time complexity in the number of nodes. The experiments showed that the IHDR method can interpolate the mapping between high dimensional input space and the output control signal space from a variety of objects of various shapes with different motion patterns, based on the size-dependent negative logarithmic distance measures in the hierarchical feature space. The trained robot is able to aim to its camera towards moving object and move toward or away according to the size of moving object.

Author Keywords: Motion detection; Discriminant analysis; Decision trees; Incremental learning

Article Outline

1. Introduction
2. The method
3. Mapping
4. Experimental results
5. Conclusions
References




 
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