Strategies for multi-modal scene exploration
2010
Conference Paper
am
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.
Author(s): | Bohg, J. and Johnson-Roberson, M. and Björkman, M. and Kragic, D. |
Book Title: | Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on |
Pages: | 4509-4515 |
Year: | 2010 |
Month: | October |
Department(s): | Autonomous Motion |
Research Project(s): |
Interactive Perception
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Bibtex Type: | Conference Paper (inproceedings) |
Paper Type: | Conference |
DOI: | 10.1109/IROS.2010.5652967 |
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BibTex @inproceedings{5652967, title = {Strategies for multi-modal scene exploration}, author = {Bohg, J. and Johnson-Roberson, M. and Bj{\"o}rkman, M. and Kragic, D.}, booktitle = {Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on}, pages = {4509-4515}, month = oct, year = {2010}, doi = {10.1109/IROS.2010.5652967}, month_numeric = {10} } |