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Authors: Michael Sapienza and Kenneth Camilleri

Affiliation: University of Malta, Malta

Keyword(s): Traversability Detection, Autonomous Robotics, Self-guidance.

Related Ontology Subjects/Areas/Topics: Human-Robots Interfaces ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Perception and Awareness ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: In order for robots to be integrated into human active spaces and perform useful tasks, they must be capable of discriminating between traversable surfaces and obstacle regions in their surrounding environment. In this work, a principled semi-supervised (EM) framework is presented for the detection of traversable image regions for use on a low-cost monocular mobile robot. We propose a novel generative model for the occurrence of traversability cues, which are a measure of dissimilarity between safe-window and image superpixel features. Our classification results on both indoor and outdoor images sequences demonstrate its generality and adaptability to multiple environments through the online learning of an exponential mixture model. We show that this appearance-based vision framework is robust and can quickly and accurately estimate the probabilistic traversability of an image using no temporal information. Moreover, the reduction in safe-window size as compared to the state-of-the-a rt enables a self-guided monocular robot to roam in closer proximity of obstacles. (More)

CC BY-NC-ND 4.0

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Paper citation in several formats:
Sapienza, M. and Camilleri, K. (2012). A Generative Traversability Model for Monocular Robot Self-guidance. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8565-22-8; ISSN 2184-2809, SciTePress, pages 177-184. DOI: 10.5220/0003983701770184

@conference{icinco12,
author={Michael Sapienza. and Kenneth Camilleri.},
title={A Generative Traversability Model for Monocular Robot Self-guidance},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2012},
pages={177-184},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003983701770184},
isbn={978-989-8565-22-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - A Generative Traversability Model for Monocular Robot Self-guidance
SN - 978-989-8565-22-8
IS - 2184-2809
AU - Sapienza, M.
AU - Camilleri, K.
PY - 2012
SP - 177
EP - 184
DO - 10.5220/0003983701770184
PB - SciTePress