NDLI: Unsupervised and online non-stationary obstacle discovery and modeling using a laser range finder

Content Provider	IEEE Xplore Digital Library
Author	Duceux, G. Filliat, D.
Copyright Year	2014
Description	Author affiliation: Comput. Sci. & Syst. Eng. Lab., ENSTA ParisTech, Palaiseau, France (Duceux, G.; Filliat, D.)
Abstract	Using laser range finders has shown its efficiency to perform mapping and navigation for mobile robots. However, most of existing methods assume a mostly static world and filter away dynamic aspects while those dynamic aspects are often caused by non-stationary objects which may be important for the robot task. We propose an approach that makes it possible to detect, learn and recognize these objects through a multi-view model, using only a planar laser range finder. We show using a supervised approach that despite the limited information provided by the sensor, it is possible to recognize efficiently up to 22 different object, with a low computing cost while taking advantage of the large field of view of the sensor. We also propose an online, incremental and unsupervised approach that make it possible to continuously discover and learn all kind of dynamic elements encountered by the robot including people and objects.
Starting Page	593
Ending Page	599
File Size	1700134
Page Count	7
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942620
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Computational modeling Laser modes Trajectory Shape Three-dimensional displays
Content Type	Text
Resource Type	Article

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