Accurate image classification is crucial in many robotics and surveillance applications -for example, a vision system on a robot needs to accurately recognize the objects seen by its camera. Object recognition systems typically need a large amount of training data for satisfactory performance. The problem is particularly acute when many object categories are present. In this paper we present a batch-mode active learning framework for multi-class image classification systems. In active learning, images are to be chosen for interactive labeling, instead of passively accepting training data. Our framework addresses two important issues: i) it handles redundancy between images which is crucial when batch-mode selection is performed; and ii) we pose batch selection as a submodular function optimization problem that makes an inherently intractable problem efficient to solve, while having approximation guarantees. We show results on image classification data in which our approach substantially reduces the amount of training required over the baseline.
ICRA 2010This work may not be copied or reproduced in whole or in part for any commercial purpose. Permission to copy in whole or in part without payment of fee is granted for nonprofit educational and research purposes provided that all such whole or partial copies include the following: a notice that such copying is by permission of Mitsubishi Electric Research Laboratories, Inc.; an acknowledgment of the authors and individual contributions to the work; and all applicable portions of the copyright notice. Copying, reproduction, or republishing for any other purpose shall require a license with payment of fee to Mitsubishi Electric Research Laboratories, Inc. All rights reserved. Abstract-Accurate image classification is crucial in many robotics and surveillance applications -for example, a vision system on a robot needs to accurately recognize the objects seen by its camera. Object recognition systems typically need a large amount of training data for satisfactory performance. The problem is particularly acute when many object categories are present. In this paper we present a batch-mode active learning framework for multi-class image classification systems. In active learning, images are to be chosen for interactive labeling, instead of passively accepting training data. Our framework addresses two important issues: i) it handles redundancy between different images which is crucial when batch-mode selection is performed; and ii) we pose batchselection as a submodular function optimization problem that makes an inherently intractable problem efficient to solve, while having approximation guarantees. We show results on image classification data in which our approach substantially reduces the amount of training required over the baseline.