Please use this identifier to cite or link to this item:
http://hdl.handle.net/10071/25845
Author(s): | Baleia, J. Santana, P. Barata, J. |
Editor: | Nuno Lau António Paulo Moreira Rodrigo Ventura Brígida Mónica Faria Sociedade Portuguesa de Robotica IEEE Robotics and Automation Society Institute of Electrical and Electronics Engineers. Portugal Section |
Date: | 2014 |
Title: | Self-supervised learning of depth-based navigation affordances from haptic cues |
Book title/volume: | Proceedings of IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) |
Reference: | Baleia, J., Santana, P., & Barata, J. (2014). Self-supervised learning of depth-based navigation affordances from haptic cues. Em Nuno Lau; António Paulo Moreira; Rodrigo Ventura; Brígida Mónica Faria; Sociedade Portuguesa de Robotica,; IEEE Robotics and Automation Society,; Institute of Electrical and Electronics Engineers. Portugal Section (Eds.), Proceedings of IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC).IEEE. http://hdl.handle.net/10071/25845 |
ISBN: | 978-1-4799-4254-1 |
Keywords: | Autonomous robots Self-supervised learning Affordances Terrain assessment Depth sensing Robotic antenna |
Abstract: | This paper presents a ground vehicle capable of exploiting haptic cues to learn navigation affordances from depth cues. A simple pan-tilt telescopic antenna and a Kinect sensor, both fitted to the robot’s body frame, provide the required haptic and depth sensory feedback, respectively. With the antenna, the robot determines whether an object is traversable by the robot. Then, the interaction outcome is associated to the object’s depth-based descriptor. Later on, the robot to predict if a newly observed object is traversable just by inspecting its depth-based appearance uses this acquired knowledge. A set of field trials show the ability of the to robot progressively learn which elements of the environment are traversable. |
Peerreviewed: | yes |
Access type: | Open Access |
Appears in Collections: | ISTAR-CRI - Comunicações a conferências internacionais |
Files in This Item:
File | Size | Format | |
---|---|---|---|
conferenceobject_18837.pdf | 4 MB | Adobe PDF | View/Open |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.