Strategies for Multi-Modal Scene Exploration
2010 (English)In: IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, 4509-4515 p.Conference paper (Refereed)
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.
, IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
MOBILE ROBOT, PERCEPTION
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-32008DOI: 10.1109/IROS.2010.5652967ISI: 000287672003149ISBN: 978-1-4244-6675-7OAI: oai:DiVA.org:kth-32008DiVA: diva2:409161
IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, TAIWAN, OCT 18-22, 2010
QC 201104072011-04-072011-04-042012-01-17Bibliographically approved