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2009 Technical Reports

A Theory of Active Object Localization

Alexander Andreopoulos and John K. Tsotsos

Technical Report CSE-2009-01

York University

March 10 2009


We present some theoretical results related to the problem of actively searching for a target in a 3D environment, under the constraint of a maximum search time. We definethe object localization problem as the maximization over the search region of the Lebesgue integral of the scene structureprobabilities. We study variants of the problem as they relate to actively selecting a finite set of optimal viewpoints of the scene for detecting and localizing an object. We doa complexity-level analysis on the problems, by showing that in the best case scenario, the problems have high order pseudo-polynomial running times or are NP-Complete.We study the tradeoffs of localizing vs. detecting a target object, using single-view and multiple-view recognition, under imperfect dead-reckoning and an imperfect recognition algorithm. We use these results to propose a set of sufficient properties that efficient and reliable active object localiza- tion algorithms should satisfy.

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