Touching without vision: terrain perception in sensory deprived environments

Kód výsledku v 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>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Touching without vision: terrain perception in sensory deprived environments

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Touching without vision: terrain perception in sensory deprived environments

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

<a href="/cs/project/GA14-13876S" target="_blank" >GA14-13876S: Strojové vnímání pro dlouhodobou autonomii mobilních robotů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2016

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

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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Počet stran výsledku

8

Strana od-do

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Název nakladatele

Slovenian Pattern Recognition Society

Místo vydání

Ljubljana

Místo konání akce

Rimske Toplice

Datum konání akce

3. 2. 2016

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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