mars terrain image classification using cartesian genetic programming #isairas 2012
DESCRIPTION
My presentation at the International Symposium on Artificial Intelligence, Robotics and Automation in Space i-SAIRAS. 4-6 September 2012. Turin, ItalyTRANSCRIPT
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mars terrain image classification using CGP
S. Harding, A. Förster, J. Schmidhuber
istituto dalle molle di studi sull’intelligenza artificialeuniversità della svizzera italiana
idsia / usi / supsi
Jürgen ’Juxi’ Leitner
#iSAIRAS 2012
Wednesday, September 5, 2012
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perceptionvisual
thanks to G. Metta and IIT for this picture
Wednesday, September 5, 2012
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objectsdetecting
Wednesday, September 5, 2012
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approachlearning
Wednesday, September 5, 2012
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cartesian genetic
programming
+ min dilate avg INP INP INP
Wednesday, September 5, 2012
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applicationsspace
Image credit: NASA
Wednesday, September 5, 2012
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applicationsspace
Image credit: NASA
Wednesday, September 5, 2012
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approachcgp
Wednesday, September 5, 2012
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cartesian genetic
programming
+ min dilate avg INP INP INP
Wednesday, September 5, 2012
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cartesian genetic
programming
+ min dilate avg INP INP INP
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Wednesday, September 5, 2012
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detect
Wednesday, September 5, 2012
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detect
Wednesday, September 5, 2012
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details
!"#$%&$'()*'+,%-$&+*,.%
• /+0%)1#2$3%"4%)"-$.%5%677%• /1&+8")%3+&$%5%679%• :1)'8").%5%;<7%%• =)>1&%'"1)&%5%?@%%A1&>1&%'"1)&5%6%• =.,+)-%#"-$,%4"3%$B",18")%– C<%D"3%."E%*.,+)-.%– FB",18")+3G%.&3+&$HG%D6I<E%*)%$+'(%*.,+)-%
• J$+K%.$,$'8")%>3$..13$%+>>,*$-%4"3%$0$'18")%.>$$-%
technical
Wednesday, September 5, 2012
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rocksdetecting
Wednesday, September 5, 2012
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Wednesday, September 5, 2012
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rocksdetecting
icImage* RockDetector::runFilter() { ! icImage* node0 = InputImages[6]->gauss(3);! icImage* node1 = node0->sqrt();! icImage* node9 = InputImages[5];! icImage* node12 = node9->unsharpen(13);! icImage* node15 = node1->mulc(7.00936886295676);! icImage* node24 = node15->SmoothBilateral(9);! icImage* node31 = node24->Normalize();! icImage* node33 = node12->mulc(4.03286868333817);! icImage* node35 = node33->add(node31);! icImage* node99 = node35->SmoothBilateral(11); //cleanup ... // return! return node99->threshold(177.2417f); }
Wednesday, September 5, 2012
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specificrocks
detecting
Wednesday, September 5, 2012
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specificrocksdetectingWednesday, September 5, 2012
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martianterrain
classifying
Wednesday, September 5, 2012
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martianterrain 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
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martianterrain 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.
Shang et al. CGP-IP
Wednesday, September 5, 2012
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martianterrain 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
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martianterrain 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.
Shang et al. CGP-IP
Wednesday, September 5, 2012
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we are not martian terrain specialists :)
if you have (labelled) dataplease contact us
collaboration
[email protected] http://Juxi.net/projects
Wednesday, September 5, 2012
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conclusions
combining cgp with opencv creates possibilities
output: executable, human-readable code for detection and identification
impressive performance (and robustness)
Wednesday, September 5, 2012
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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.
for listeningthanks
further references
[email protected] http://Juxi.net/projects
Wednesday, September 5, 2012