Inferring Door Locations From A Teammate'S Trajectory In Stealth Human-Robot Team Operations
2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)(2015)
摘要
Robot perception is generally viewed as the interpretation of data from various types of sensors such as cameras. In this paper, we study indirect perception where a robot can perceive new information by making inferences from non-visual observations of human teammates. As a proof-of-concept study, we specifically focus on a door detection problem in a stealth mission setting where a team operation must not be exposed to the visibility of the team's opponents. We use a special type of the Noisy-OR model known as BN2O model of Bayesian inference network to represent the inter-visibility and to infer the locations of the doors, i.e., potential locations of the opponents. Experimental results on both synthetic data and real person tracking data achieve an F-measure of over .9 on average, suggesting further investigation on the use of non-visual perception in human-robot team operations.
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关键词
door locations,teammate trajectory,stealth human-robot team operations,robot perception,sensors,indirect perception,nonvisual observations,door detection problem,stealth mission setting,noisy-OR model,BN2O model,Bayesian inference network,synthetic data,person tracking data,F-measure,nonvisual perception
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