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.

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Abstract

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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ID Code: 67609
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Keywords: Reliable Perception, laser range finder, radar, mobile robots, sensor fusion
ISBN: 9780980740431
ISSN: 1448-2053
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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