Towards reliable perception for unmanned ground vehicles in challenging conditions
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IROS09_0470_FI.pdf. |
Description
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.
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| ID Code: | 67662 | ||
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| Item Type: | Chapter in Book, Report or Conference volume (Conference contribution) | ||
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| Measurements or Duration: | 7 pages | ||
| Keywords: | mobile robots, range sensing, reliable perception, sensor fusion, unmanned ground vehicles | ||
| DOI: | 10.1109/IROS.2009.5354484 | ||
| ISBN: | 9781424438037 | ||
| Pure ID: | 31904815 | ||
| Divisions: | Past > QUT Faculties & Divisions > Science & Engineering Faculty | ||
| Copyright Owner: | Consult author(s) regarding copyright matters | ||
| Copyright Statement: | This work is covered by copyright. Unless the document is being made available under a Creative Commons Licence, you must assume that re-use is limited to personal use and that permission from the copyright owner must be obtained for all other uses. If the document is available under a Creative Commons License (or other specified license) then refer to the Licence for details of permitted re-use. It is a condition of access that users recognise and abide by the legal requirements associated with these rights. If you believe that this work infringes copyright please provide details by email to qut.copyright@qut.edu.au | ||
| Deposited On: | 06 Mar 2014 01:29 | ||
| Last Modified: | 16 Jul 2024 21:33 |
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