Name
Abstract | ||
|---|---|---|
We describe a navigation and coverage system based on unsupervised learning driven by visual input. Our objectiveis to allow a robot to remain continuously moving above a terrain of interest using visual feedback to avoid leavingthis region. As a particular application domain, we are interested in doing this in open water, but the approach makes few domain-specific assumptions. Specifically, our system employed an unsupervised learning technique to train a k-Nearest Neighbor classifier to distinguish between images of different terrain types through image segmentation. A simple random exploration strategy was used with this classifier to allow the robot to collect data while remaining confined above a coral reef, without the need to maintain pose estimates. We tested the technique in simulation, and a live deployment was conducted in open water. During the latter, the robot successfully navigated autonomously above acoral reef during a 20 minutes period. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/CRV.2009.41 | CRV |
Keywords | Field | DocType |
open water,unsupervised learning,visual input,automated coral reef exploration,k-nearest neighbor classifier,unsupervised learning technique,domain-specific assumption,coral reef,different terrain type,terrain appearance,acoral reef,visual feedback,coverage system,feedback,visual servoing,navigation,machine learning,robot,pose estimation,image segmentation,robots,path planning,testing,pixel,visualization,computer vision,k nearest neighbor,underwater acoustics,data mining,robotics | Motion planning,Computer vision,Computer science,Visualization,Terrain,Image segmentation,Unsupervised learning,Artificial intelligence,Visual servoing,Classifier (linguistics),Robot,Machine learning | Conference |
Citations | PageRank | References |
6 | 0.52 | 12 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Philippe Giguere | 1 | 45 | 4.51 |
| Gregory Dudek | 2 | 2163 | 255.48 |
| Christopher Prahacs | 3 | 6 | 0.52 |
| Nicolas Plamondon | 4 | 6 | 0.52 |
| Katrine Turgeon | 5 | 20 | 1.44 |