A tale of two filters-on-line novelty detection

For mobile robots, as well as other learning systems, the ability to highlight unexpected features of their environment - novelty detection - is very useful. One particularly important application for a robot equipped with novelty detection is inspection, highlighting potential problems in an environment. In this paper two novelty filters, both of which are capable of on-line and off-line novelty detection, are compared for two robot inspection tasks, one using sonar and the other camera images. The benefits and problems of using each of the filters are discussed and demonstrated.