Strategies for multi-modal scene exploration


Conference Paper


We propose a method for multi-modal scene exploration where initial object hypothesis formed by active visual segmentation are confirmed and augmented through haptic exploration with a robotic arm. We update the current belief about the state of the map with the detection results and predict yet unknown parts of the map with a Gaussian Process. We show that through the integration of different sensor modalities, we achieve a more complete scene model. We also show that the prediction of the scene structure leads to a valid scene representation even if the map is not fully traversed. Furthermore, we propose different exploration strategies and evaluate them both in simulation and on our robotic platform.

Author(s): Bohg, J. and Johnson-Roberson, M. and Björkman, M. and Kragic, D.
Book Title: Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Pages: 4509-4515
Year: 2010
Month: October

Department(s): Autonomous Motion
Research Project(s): Interactive Perception
Bibtex Type: Conference Paper (inproceedings)
Paper Type: Conference

DOI: 10.1109/IROS.2010.5652967

Links: video
Attachments: pdf


  title = {Strategies for multi-modal scene exploration},
  author = {Bohg, J. and Johnson-Roberson, M. and Bj{\"o}rkman, M. and Kragic, D.},
  booktitle = {Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on},
  pages = {4509-4515},
  month = oct,
  year = {2010},
  month_numeric = {10}