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Strategies for Multi-Modal Scene Exploration
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- Bohg, Jeannette (author)
- KTH,Centrum för Autonoma System, CAS,Datorseende och robotik, CVAP
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- Johnson-Roberson, Matthew (author)
- KTH,Centrum för Autonoma System, CAS,Datorseende och robotik, CVAP
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- Björkman, Mårten (author)
- KTH,Centrum för Autonoma System, CAS,Datorseende och robotik, CVAP
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- (creator_code:org_t)
- 2010
- 2010
- English.
- In: IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010). - 9781424466757 ; , s. 4509-4515
- Conference paper (peer-reviewed)
Abstract
Subject headings
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- We propose a method for multi-modal scene exploration where initial object hypothesis formed by active visual segmentation are confirmed and augmented through haptic exploration with a robotic arm. We update the current belief about the state of the map with the detection results and predict yet unknown parts of the map with a Gaussian Process. We show that through the integration of different sensor modalities, we achieve a more complete scene model. We also show that the prediction of the scene structure leads to a valid scene representation even if the map is not fully traversed. Furthermore, we propose different exploration strategies and evaluate them both in simulation and on our robotic platform.
Subject headings
- NATURVETENSKAP -- Data- och informationsvetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences (hsv//eng)
Keyword
- MOBILE ROBOT
- PERCEPTION
- Information technology
- Informationsteknik
Publication and Content Type
- ref (subject category)
- kon (subject category)
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- Royal Institute of Technology
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