ICRA 2011 Paper Abstract

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Paper WeP101.3

Kompella, Varun Raj (IDSIA, Lugano), Sturm, Peter (INRIA Rhone Alpes)

Detection and Avoidance of Semi-Transparent Obstacles Using a Collective-Reward Based Approach

Scheduled for presentation during the Regular Sessions "Collision Avoidance" (WeP101), Wednesday, May 11, 2011, 14:10−14:25, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 8, 2019

Keywords Collision Avoidance, Computer Vision for Robotics and Automation, Visual Navigation

Abstract

Most of the computer and robot-vision algorithms are designed mainly for opaque objects and non-opaque objects have received less attention, in spite of them being omnipresent in man-made environments. With an increasing usage of such objects, especially those made of glass, plastic etc., it becomes necessarily important to detect this class of objects while building a robot navigation system. Obstacle avoidance forms a primary yet challenging task in mobile robot navigation. The main objective of this paper is to present an algorithm to detect and avoid obstacles that are made of semi-transparent materials, such as plastic or glass. The algorithm makes use of a technique called the collective-reward based approach to detect such objects from single images captured by an uncalibrated camera in a live video stream. Random selection techniques are incorporated in the method to make the algorithm run in real-time. A mobile robot then uses the information after detection to perform an obstacle avoidance maneuver. Experiments were conducted on a real robot to test the efficacy of the algorithm.

 

 

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