NDLI: Autonomous Learning of Terrain Classification within Imagery for Robot Navigation

Content Provider	IEEE Xplore Digital Library
Author	Happold, M. Ollis, M.
Copyright Year	2006
Description	Author affiliation: Appl. Perception Inc., Pittsburgh (Happold, M.; Ollis, M.)
Abstract	Stereo matching in unstructured, outdoor environments is often confounded by the complexity of the scenery and thus may yield only sparse disparity maps. Two-dimensional visual imagery, on the other hand, offers dense information about the environment of mobile robots, but is often difficult to exploit. Training a supervised classifier to identify traversable regions within images that generalizes well across a large variety of environments requires a vast corpus of labeled examples. Autonomous learning of the traversable/untraversable distinction indicated by scene appearance is therefore a highly desirable goal of robot vision. We describe here a system for learning this distinction online without the involvement of a human supervisor. The system takes in imagery and range data from a pair of stereo cameras mounted on a small mobile robot and autonomously learns to produce a labeling of scenery. Supervision of the learning process is entirely through information gathered from range data. Two types of boosted weak learners, Nearest Means and naive Bayes, are trained on this autonomously labeled corpus. The resulting classified images provide dense information about the environment which can be used to fill-in regions where stereo cannot find matches or in lieu of stereo to direct robot navigation. This method has been tested across a large array of environment types and can produce very accurate labelings of scene imagery as judged by human experts and compared against purely geometric-based labelings. Because it is online and rapid, it eliminates some of the problems related to color constancy and dynamic environments.
Starting Page	260
Ending Page	266
File Size	3994281
Page Count	7
File Format	PDF
ISBN	1424400996
DOI	10.1109/ICSMC.2006.384392
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-08
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Labeling Layout Mobile robots Robot vision systems Humans Robot sensing systems Cameras Robotics and automation Cybernetics
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

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