Utilize este identificador para referenciar este registo:
http://hdl.handle.net/10071/25845
Autoria: | 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 |
Data: | 2014 |
Título próprio: | Self-supervised learning of depth-based navigation affordances from haptic cues |
Título e volume do livro: | Proceedings of IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) |
Referência bibliográfica: | 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 |
Palavras-chave: | Autonomous robots Self-supervised learning Affordances Terrain assessment Depth sensing Robotic antenna |
Resumo: | 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. |
Arbitragem científica: | yes |
Acesso: | Acesso Aberto |
Aparece nas coleções: | ISTAR-CRI - Comunicações a conferências internacionais |
Ficheiros deste registo:
Ficheiro | Tamanho | Formato | |
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conferenceobject_18837.pdf | 4 MB | Adobe PDF | Ver/Abrir |
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