Laser-camera data discrepancies and reliable perception in outdoor robotics
Peynot, Thierry & Kassir, Abdallah (2010) Laser-camera data discrepancies and reliable perception in outdoor robotics. In Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Taipei, Taiwan, pp. 2625-2632.
This work aims to promote integrity in autonomous perceptual systems, with a focus on outdoor unmanned ground vehicles equipped with a camera and a 2D laser range finder. A method to check for inconsistencies between the data provided by these two heterogeneous sensors is proposed and discussed. First, uncertainties in the estimated transformation between the laser and camera frames are evaluated and propagated up to the projection of the laser points onto the image. Then, for each pair of laser scan-camera image acquired, the information at corners of the laser scan is compared with the content of the image, resulting in a likelihood of correspondence. The result of this process is then used to validate segments of the laser scan that are found to be consistent with the image, while inconsistent segments are rejected. Experimental results illustrate how this technique can improve the reliability of perception in challenging environmental conditions, such as in the presence of airborne dust.
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|Item Type:||Conference Paper|
|Additional Information:||11689424 laser camera data discrepancy reliable perception outdoor robot autonomous perceptual system outdoor unmanned ground vehicle 2D laser range finder heterogeneous sensor laser scan camera image|
|Keywords:||cameras, laser range finder, mobile robots, reliable perception, visual perception, robot vision|
|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 2010 IEEE|
|Copyright Statement:||Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.|
|Deposited On:||06 Mar 2014 01:35|
|Last Modified:||26 Mar 2014 21:46|
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