Incremental PCA: an alternative approach for novelty detection
Ulrich Nehmzow, Hugo Vieira Neto · Portuguese National Funding Agency for Science, Research and Technology (RCAAP Project by FCT) · 2005
Exploration and inspection of dynamic environments using mobile robots are applications that benefit immensely from novelty detection algorithms. In this paper we propose the use of a new approach for on-line novelty detection based on incremental Principal Component Analysis and compare its performance and functionality with a previously studied technique based on a GWR neural network. We have conducted a series of experiments using visual input from a mobile robot interacting with a controlled laboratory environment that show advantages and disadvantages for each method.