The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

Novelty detection is often treated as a one-class classification problem: how to segment a data set of examples from everything else that would be considered novel or abnormal. Almost all existing novelty detection techniques, however, suffer from diminished performance when the number of less relevant, redundant or noisy features increases, as often the case with high-dimensional feature spaces. Additionally, many of these algorithms are not suited for online use, a trait that is highly desirable for many robotic applications. We present a novelty detection algorithm that is able to address this sensitivity to high feature dimensionality by utilizing prior class information within the training set. Additionally, our anytime algorithm is well suited for online use when a constantly adjusting environmental model is beneficial. We apply this algorithm to online detection of novel perception system input on an outdoor mobile robot and argue how such abilities could be key in increasing the real-world applications and impact of mobile robotics.

Keywords

novelty detection, field robotics, vehicle safeguarding, dimensionality reduction

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center

Associated Project(s): UGCV PerceptOR Integrated and CTA Robotics

Text Reference

Boris Sofman, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz, "Anytime Online Novelty Detection for Vehicle Safeguarding," tech. report CMU-RI-TR-09-17, Robotics Institute, Carnegie Mellon University, April, 2009

BibTeX Reference

@techreport{Sofman_2009_6368,
   author = "Boris Sofman and J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz",
   title = "Anytime Online Novelty Detection for Vehicle Safeguarding",
   booktitle = "",
   institution = "Robotics Institute",
   month = "April",
   year = "2009",
   number= "CMU-RI-TR-09-17",
   address= "Pittsburgh, PA",
}

The Robotics Institute

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