ITEE seminar: Dr Martin Adams, 11.30AM, Mon 24 Feb 2003

Interpreting Range Data for Mobile Robot Feature Detection

Speaker: Dr Martin Adams, Nanyang Technological University

When: 11.30AM, Monday 24 Feb 2003

Venue: 78-420

Host: Dr Gordon Wyeth

Abstract:

  Outdoor mobile robotic systems often utilise either RADAR or LADAR range
  data to aid autonomous navigation. A key research component of the SLAM
  (Simultaneous Localisation and Map Building) problem is that of
  reliable feature detection and subsequent association.

  This talk will demonstrate theoretical analyses and experiments which have
  been carried out on various commercially available time-of-flight (TOF)
  LADARS. This will show the importance of correctly modelling the
  sources of systematic and random range errors committed by these
  devices, and the impact that such errors can have on various feature
  detection algorithms. It will be shown that if the amplitude of the
  received signal is available, then a unique range variance value can
  be estimated and assigned to each range data sample.

  On-line feature detection algorithms will also be demonstrated,
  which are capable of detecting and distinguishing between the edges
  of planar surfaces, cylinders/trees and more generally changes in
  surface radius of curvature in outdoor environments.

  Finally, initial work aimed at solving the data association problem,
  necessary as a prerequesite for reliable SLAM, will be
  presented. Each individual range scan can contain many tens of
  features, and these must be correctly associated and pruned when such
  scans have been recorded from differing robot positions. Results with
  real laser range data will be presented.

Biography:

(biography unavailable)

Contact:

Dr Gordon Wyeth, seminar host (wyeth@itee.uq.edu.au)
or Guido Governatori (ITEE seminar co-ordinator) (guido@itee.uq.edu.au)

ITEE seminar web page: http://www.itee.uq.edu.au/~seminar

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