Mapping and planning under uncertainty in mobile robots with long-range perception

Pierre Sermanet, Raia Hadsell, Marco Scoffier, Urs Muller, Yann LeCun

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2525-2530
Number of pages6
DOIs
StatePublished - 2008
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: Sep 22 2008Sep 26 2008

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period9/22/089/26/08

Fingerprint

Mobile robots
Robots
Planning
Supervised learning
Classifiers
Uncertainty

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Sermanet, P., Hadsell, R., Scoffier, M., Muller, U., & LeCun, Y. (2008). Mapping and planning under uncertainty in mobile robots with long-range perception. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2525-2530). [4651203] https://doi.org/10.1109/IROS.2008.4651203

Mapping and planning under uncertainty in mobile robots with long-range perception. / Sermanet, Pierre; Hadsell, Raia; Scoffier, Marco; Muller, Urs; LeCun, Yann.

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 2525-2530 4651203.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sermanet, P, Hadsell, R, Scoffier, M, Muller, U & LeCun, Y 2008, Mapping and planning under uncertainty in mobile robots with long-range perception. in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 4651203, pp. 2525-2530, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Nice, France, 9/22/08. https://doi.org/10.1109/IROS.2008.4651203
Sermanet P, Hadsell R, Scoffier M, Muller U, LeCun Y. Mapping and planning under uncertainty in mobile robots with long-range perception. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 2525-2530. 4651203 https://doi.org/10.1109/IROS.2008.4651203
Sermanet, Pierre ; Hadsell, Raia ; Scoffier, Marco ; Muller, Urs ; LeCun, Yann. / Mapping and planning under uncertainty in mobile robots with long-range perception. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. pp. 2525-2530
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