Touching without vision: terrain perception in sensory deprived environments

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00300886" target="_blank" >RIV/68407700:21230/16:00300886 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Touching without vision: terrain perception in sensory deprived environments
Original language description
In this paper we demonstrate a combined hardware and software solution that enhances sensor suite and perception capabilities of a mobile robot intended for real Urban Search & Rescue missions. A common fail-case, when exploring unknown environment of a disaster site, is the outage o r deterioration of exteroceptive sensory measurements that the robot heavily relies on especially for localization and navigation purposes. Deprivation of visual and laser modalities caused by dense smoke motivated us to develop a novel solution comprised of force sensor arrays embedded into tracks of our platform. Furthermore, we also exploit a robotic arm for active perception in cases when the prediction based on force sensors is too uncertain. Beside the integration of hardware, we also propose a framework exploiting Gaussian proces ses followed by Gibb's sampling to process raw sensor measurements and provide probabilistic interpretation of the underlying terrain pro file. In the final, the profile is perceived by proprioceptive means only and successfully substitutes for the lack of exteroceptive measurements in the close vicinity of the robot, when traversing unknown and unseen obstacles. We evaluated our solution on real world terrains.
Czech name
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Czech description
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Project
<a href="/en/project/GA14-13876S" target="_blank" >GA14-13876S: Perception methods for long-term autonomy of mobile robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 21st Computer Vision Winter Workshop
ISBN
978-961-90901-7-6
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
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Publisher name
Slovenian Pattern Recognition Society
Place of publication
Ljubljana
Event location
Rimske Toplice
Event date
Feb 3, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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