4 February 2013 Development of dog-like retrieving capability in a ground robot
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Proceedings Volume 8662, Intelligent Robots and Computer Vision XXX: Algorithms and Techniques; 86620M (2013); doi: 10.1117/12.2010679
Event: IS&T/SPIE Electronic Imaging, 2013, Burlingame, California, United States
Abstract
This paper presents the Mobile Intelligence Team's approach to addressing the CANINE outdoor ground robot competition. The competition required developing a robot that provided retrieving capabilities similar to a dog, while operating fully autonomously in unstructured environments. The vision team consisted of Mobile Intelligence, the Georgia Institute of Technology, and Wayne State University. Important computer vision aspects of the project were the ability to quickly learn the distinguishing characteristics of novel objects, searching images for the object as the robot drove a search pattern, identifying people near the robot for safe operations, correctly identify the object among distractors, and localizing the object for retrieval. The classifier used to identify the objects will be discussed, including an analysis of its performance, and an overview of the entire system architecture presented. A discussion of the robot's performance in the competition will demonstrate the system’s successes in real-world testing.
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Douglas C. MacKenzie, Rahul Ashok, James M. Rehg, Gary Witus, "Development of dog-like retrieving capability in a ground robot", Proc. SPIE 8662, Intelligent Robots and Computer Vision XXX: Algorithms and Techniques, 86620M (4 February 2013); doi: 10.1117/12.2010679; http://dx.doi.org/10.1117/12.2010679
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KEYWORDS
Image segmentation

Cameras

Image processing

Stereoscopic cameras

Bone

Inspection

Computer vision technology

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