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