Towards reliable perception for unmanned ground vehicles in challenging conditions

Peynot, Thierry, Underwood, James, & Scheding, Steven (2009) Towards reliable perception for unmanned ground vehicles in challenging conditions. In Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Hyatt Regency , St. Louis, Missouri, pp. 1170-1176.

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This work aims to promote reliability and integrity in autonomous perceptual systems, with a focus on outdoor unmanned ground vehicle (UGV) autonomy. For this purpose, a comprehensive UGV system, comprising many different exteroceptive and proprioceptive sensors has been built. The first contribution of this work is a large, accurately calibrated and synchronised, multi-modal data-set, gathered in controlled environmental conditions, including the presence of dust, smoke and rain. The data have then been used to analyse the effects of such challenging conditions on perception and to identify common perceptual failures. The second contribution is a presentation of methods for mitigating these failures to promote perceptual integrity in adverse environmental conditions.

Impact and interest:

29 citations in Scopus
7 citations in Web of Science®
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ID Code: 67662
Item Type: Conference Paper
Refereed: No
Additional Information: 11010345
unmanned ground vehicles
autonomous perceptual system reliability
autonomous perceptual system integrity
UGV system
exteroceptive sensors
proprioceptive sensors
multimodal sensor fusion algorithm
Keywords: mobile robots, reliable perception, unmanned ground vehicles, range sensing, sensor fusion
DOI: 10.1109/IROS.2009.5354484
ISBN: 9781424438037
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 2009 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 01:29
Last Modified: 28 Mar 2014 06:04

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