Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Strategies for Multi-Modal Scene Exploration
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-0579-3372
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-2965-2953
2010 (English)In: IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, 4509-4515 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
2010. 4509-4515 p.
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keyword [en]
MOBILE ROBOT, PERCEPTION
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-32008DOI: 10.1109/IROS.2010.5652967ISI: 000287672003149ISBN: 978-1-4244-6675-7 (print)OAI: oai:DiVA.org:kth-32008DiVA: diva2:409161
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, TAIWAN, OCT 18-22, 2010
Note
QC 20110407Available from: 2011-04-07 Created: 2011-04-04 Last updated: 2012-01-17Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full text

Authority records BETA

Björkman, MårtenKragic, Danica

Search in DiVA

By author/editor
Bohg, JeannetteJohnson-Roberson, MatthewBjörkman, MårtenKragic, Danica
By organisation
Centre for Autonomous Systems, CASComputer Vision and Active Perception, CVAP
Computer and Information Science

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 105 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf