Laser-to-radar sensing redundancy for resilient perception in adverse environmental conditions
Gerardo-Castro, Marcos P. & Peynot, Thierry (2012) Laser-to-radar sensing redundancy for resilient perception in adverse environmental conditions. In Proceedings of the 2012 Australasian Conference on Robotics & Automation, ARAA, Victoria University of Wellington, New Zealand.
This paper presents an approach to promote the integrity of perception systems for outdoor unmanned ground vehicles (UGV) operating in challenging environmental conditions (presence of dust or smoke). The proposed technique automatically evaluates the consistency of the data provided by two sensing modalities: a 2D laser range finder and a millimetre-wave radar, allowing for perceptual failure mitigation. Experimental results, obtained with a UGV operating in rural environments, and an error analysis validate the approach.
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|Item Type:||Conference Paper|
|Keywords:||Reliable Perception, laser range finder, radar, mobile robots, sensor fusion|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2012 Please consult the authors|
|Deposited On:||06 Mar 2014 00:45|
|Last Modified:||06 Mar 2014 00:46|
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