Imperial College London

DrCarloCiliberto

Faculty of EngineeringDepartment of Electrical and Electronic Engineering

Lecturer
 
 
 
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Contact

 

+44 (0)20 7594 6173c.ciliberto CV

 
 
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Location

 

1003Electrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Ciliberto:2013:10.1109/IROS.2013.6696893,
author = {Ciliberto, C and Fanello, SR and Santoro, M and Natale, L and Metta, G and Rosasco, L},
doi = {10.1109/IROS.2013.6696893},
pages = {3759--3764},
title = {On the impact of learning hierarchical representations for visual recognition in robotics},
url = {http://dx.doi.org/10.1109/IROS.2013.6696893},
year = {2013}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - Recent developments in learning sophisticated, hierarchical image representations have led to remarkable progress in the context of visual recognition. While these methods are becoming standard in modern computer vision systems, they are rarely adopted in robotics. The question arises of whether solutions, which have been primarily developed for image retrieval, can perform well in more dynamic and unstructured scenarios. In this paper we tackle this question performing an extensive evaluation of state of the art methods for visual recognition on a iCub robot. We consider the problem of classifying 15 different objects shown by a human demonstrator in a challenging Human-Robot Interaction scenario. The classification performance of hierarchical learning approaches are shown to outperform benchmark solutions based on local descriptors and template matching. Our results show that hierarchical learning systems are computationally efficient and can be used for real-time training and recognition of objects. © 2013 IEEE.
AU - Ciliberto,C
AU - Fanello,SR
AU - Santoro,M
AU - Natale,L
AU - Metta,G
AU - Rosasco,L
DO - 10.1109/IROS.2013.6696893
EP - 3764
PY - 2013///
SN - 2153-0858
SP - 3759
TI - On the impact of learning hierarchical representations for visual recognition in robotics
UR - http://dx.doi.org/10.1109/IROS.2013.6696893
ER -