Mars Terrain Image Classification Using Cartesian Genetic Programming #isairas 2012

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

perceptionvisual

thanks to G. Metta and IIT for this picture


objectsdetecting


approachlearning


cartesian genetic

programming

+ min dilate avg INP INP INP


applicationsspace

Image credit: NASA


applicationsspace

Image credit: NASA


approachcgp


cartesian genetic

programming



cartesian genetic

programming


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detect


detect


details

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•  /+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


rocksdetecting



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); }


specificrocks

detecting


specificrocksdetectingWednesday, September 5, 2012

martianterrain

classifying


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







Shang et al. CGP-IP


we are not martian terrain specialists :)

if you have (labelled) dataplease contact us

collaboration

[email protected] http://Juxi.net/projects


mailto:[email protected]


http://Juxi.net/projects


conclusions

combining cgp with opencv creates possibilities

output: executable, human-readable code for detection and identification

impressive performance (and robustness)


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






Technology

Mars Terrain Image Classification Using Cartesian Genetic Programming #isairas 2012