TY - GEN
T1 - Mapping and planning under uncertainty in mobile robots with long-range perception
AU - Sermanet, Pierre
AU - Hadsell, Raia
AU - Scoffier, Marco
AU - Muller, Urs
AU - LeCun, Yann
PY - 2008
Y1 - 2008
N2 - Recent advances in self-supervised learning have enabled very long-range visual detection of obstacles and pathways (to 100 meters or more). Unfortunately, the category and range of regions at such large distances come with a considerable amount of uncertainty. We present a mapping and planning system that accurately represents range and category uncertainties, and accumulates the evidence from multiple frames in a principled way. The system relies on a hyperbolic-polar map centered on the robot with a 200m radius. Map cells are histograms that accumulate evidence obtained from a self-supervised object classifier operating on image windows. The performance of the system is demonstrated on the LAGR off-road robot platform.
AB - Recent advances in self-supervised learning have enabled very long-range visual detection of obstacles and pathways (to 100 meters or more). Unfortunately, the category and range of regions at such large distances come with a considerable amount of uncertainty. We present a mapping and planning system that accurately represents range and category uncertainties, and accumulates the evidence from multiple frames in a principled way. The system relies on a hyperbolic-polar map centered on the robot with a 200m radius. Map cells are histograms that accumulate evidence obtained from a self-supervised object classifier operating on image windows. The performance of the system is demonstrated on the LAGR off-road robot platform.
UR - http://www.scopus.com/inward/record.url?scp=67649146496&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=67649146496&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4651203
DO - 10.1109/IROS.2008.4651203
M3 - Conference contribution
AN - SCOPUS:67649146496
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 2525
EP - 2530
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -