NDLI: Autonomous movement-driven place recognition calibration for generic multi-sensor robot platforms

Content Provider	IEEE Xplore Digital Library
Author	Jacobson, A. Zetao Chen Milford, M.
Copyright Year	2013
Description	Author affiliation: Sch. of Electr. Eng. & Comput. Sci., Queensland Univ. of Technol., Brisbane, QLD, Australia (Jacobson, A.; Zetao Chen; Milford, M.)
Abstract	In this paper we present a method for autonomously tuning the threshold between learning and recognizing a place in the world, based on both how the rodent brain is thought to process and calibrate multisensory data and the pivoting movement behaviour that rodents perform in doing so. The approach makes no assumptions about the number and type of sensors, the robot platform, or the environment, relying only on the ability of a robot to perform two revolutions on the spot. In addition, it self-assesses the quality of the tuning process in order to identify situations in which tuning may have failed. We demonstrate the autonomous movement-driven threshold tuning on a Pioneer 3DX robot in eight locations spread over an office environment and a building car park, and then evaluate the mapping capability of the system on journeys through these environments. The system is able to pick a place recognition threshold that enables successful environment mapping in six of the eight locations while also autonomously flagging the tuning failure in the remaining two locations. We discuss how the method, in combination with parallel work on autonomous weighting of individual sensors, moves the parameter dependent RatSLAM system significantly closer to sensor, platform and environment agnostic operation.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	1314
Ending Page	1320
File Size	7013007
Page Count	7
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696519
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Calibration Robot sensing systems Cameras Sensor systems Tuning
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Avoiding joint limits with a low-level fusion scheme

A framework for sensor planning and control with applications to vision guided multi-robot systems

Vision-based localization and mapping for an autonomous mower

Sensor driven online coverage planning for autonomous underwater vehicles

CamOdoCal: Automatic intrinsic and extrinsic calibration of a rig with multiple generic cameras and odometry

Online calibration of a humanoid robot head from relative encoders, IMU readings and visual data

Odometry-based online extrinsic sensor calibration

Simultaneous calibration, localization, and mapping

Fighting fires with human robot teams

Autonomous movement-driven place recognition calibration for generic multi-sensor robot platforms

Similar Documents

Avoiding joint limits with a low-level fusion scheme

A framework for sensor planning and control with applications to vision guided multi-robot systems

Vision-based localization and mapping for an autonomous mower

Sensor driven online coverage planning for autonomous underwater vehicles

CamOdoCal: Automatic intrinsic and extrinsic calibration of a rig with multiple generic cameras and odometry

Online calibration of a humanoid robot head from relative encoders, IMU readings and visual data

Odometry-based online extrinsic sensor calibration

Simultaneous calibration, localization, and mapping

Fighting fires with human robot teams

Autonomous movement-driven place recognition calibration for generic multi-sensor robot platforms