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Development of dog-like retrieving capability in a ground robot
MacKenzie, Douglas C ; Ashok, Rahul ; Rehg, James M ; Witus, Gary Röning, Juha ; Casasent, David
Proceedings of SPIE, the international society for optical engineering, 2013, Vol.8662, p.86620M-86620M-15
SPIE
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Título:
Development of dog-like retrieving capability in a ground robot
Autor:
MacKenzie, Douglas C
;
Ashok, Rahul
;
Rehg, James M
;
Witus, Gary
Röning, Juha
;
Casasent, David
Assuntos:
Architecture (computers)
;
Competition
;
Computer vision
;
Grounds
;
Intelligence
;
Outdoor
;
Robots
;
Searching
É parte de:
Proceedings of SPIE, the international society for optical engineering, 2013, Vol.8662, p.86620M-86620M-15
Notas:
Conference Date: 2013-02-03|2013-02-07
Conference Location: Burlingame, California, USA
ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
Descrição:
This paper presents the Mobile Intelligence Team's approach to addressing the CANINE outdoor ground robot competition. The competition required developing a robot that provided retrieving capabilities similar to a dog, while operating fully autonomously in unstructured environments. The vision team consisted of Mobile Intelligence, the Georgia Institute of Technology, and Wayne State University. Important computer vision aspects of the project were the ability to quickly learn the distinguishing characteristics of novel objects, searching images for the object as the robot drove a search pattern, identifying people near the robot for safe operations, correctly identify the object among distractors, and localizing the object for retrieval. The classifier used to identify the objects will be discussed, including an analysis of its performance, and an overview of the entire system architecture presented. A discussion of the robot's performance in the competition will demonstrate the system’s successes in real-world testing.
Editor:
SPIE
Idioma:
Inglês
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