Parameter optimization for visual obstacle detection using a derandomized evolution strategy

The autonomous mobile robot ARNOLD uses information from a stereo camera system for navigating in an unknown and dynamically changing environment. A method called Inverse Perspective Mapping (IPM) is used for visual obstacle detection. The performance of this algorithm depends on the quality of the internal camera model. In this paper we employ an Evolutionary Algorithm (EA) to improve the parameters of this model. We use a derandomized evolution strategy called (μ/μI , λ)-CMA, which adapts the complete covariance matrix of the mutation distribution. After descriptions of the IPM and the CMA, we show that the proposed optimization method leads to better parameter settings than adjustment by an expert.

[1]  X. Ren,et al.  Mathematics , 1935, Nature.

[2]  Dana H. Ballard,et al.  Computer Vision , 1982 .

[3]  Roger Y. Tsai,et al.  A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses , 1987, IEEE J. Robotics Autom..

[4]  Hans-Paul Schwefel,et al.  Evolution and Optimum Seeking: The Sixth Generation , 1993 .

[5]  Thomas Bäck,et al.  An Overview of Evolutionary Algorithms for Parameter Optimization , 1993, Evolutionary Computation.

[6]  Nikolaus Hansen,et al.  A Derandomized Approach to Self-Adaptation of Evolution Strategies , 1994, Evolutionary Computation.

[7]  Ingo Rechenberg,et al.  Evolutionsstrategie '94 , 1994, Werkstatt Bionik und Evolutionstechnik.

[8]  Hans-Georg Beyer,et al.  Toward a Theory of Evolution Strategies: On the Benefits of Sex the (/, ) Theory , 1995, Evolutionary Computation.

[9]  Hans-Paul Schwefel,et al.  Evolution and optimum seeking , 1995, Sixth-generation computer technology series.

[10]  N. Hansen,et al.  Convergence Properties of Evolution Strategies with the Derandomized Covariance Matrix Adaptation: T , 1997 .

[11]  Jean-Arcady Meyer,et al.  Autonomous Decision Making in Local Navigation , 1998 .

[12]  Percy Dahm,et al.  Autonomous decision making in local navigation , 1998 .

[13]  Percy Dahm,et al.  Neural fields for local path planning , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[14]  Nikolaus Hansen,et al.  Verallgemeinerte individuelle Schrittweitenregelung in der Evolutionsstrategie - eine Untersuchung zur entstochastisierten, koordinatensystemunabhängigen Adaptation der Mutationsverteilung , 1998 .

[15]  Werner von Seelen,et al.  Complex behavior by means of dynamical systems for an anthropomorphic robot , 1999, Neural Networks.

[16]  Eric W. Weisstein,et al.  The CRC concise encyclopedia of mathematics , 1999 .

[17]  Thomas Kalinke,et al.  Walking Pedestrian Detection and Classification , 1999, DAGM-Symposium.

[18]  Thomas Kalinke,et al.  Walking pedestrian recognition , 2000, IEEE Trans. Intell. Transp. Syst..

[19]  Christian Igel,et al.  Evolutionary Parameter Optimization for Visual Obstacle Detection , 2000 .

[20]  Nikolaus Hansen,et al.  Completely Derandomized Self-Adaptation in Evolution Strategies , 2001, Evolutionary Computation.