Paper Info
Title
Towards reliable perception for unmanned ground vehicles in challenging conditions
Abstract
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.
Year
DOI
Venue
2009
10.1109/IROS.2009.5354484
St. Louis, MO
Keywords
Field
DocType
comprehensive ugv system,adverse environmental condition,perceptual integrity,common perceptual failure,outdoor unmanned ground vehicle,towards reliable perception,challenging condition,multi-modal data-set,environmental condition,different exteroceptive,autonomous perceptual system,mobile robots,sensor fusion,remotely operated vehicles,reliability,laser radar,sensors
Computer vision,Remotely operated underwater vehicle,Computer science,Unmanned ground vehicle,Sensor fusion,Ground vehicles,Artificial intelligence,Perception,Mobile robot
Conference
ISBN
Citations 
PageRank 
978-1-4244-3804-4
11
0.88
References 
Authors
6
3
Name
Order
Citations
PageRank
Thierry Peynot110714.82
James Patrick Underwood244239.37
Steven Scheding3254.01