Development of dog-like retrieving capability in a ground robot

Douglas C. MacKenzie; Rahul Ashok; James M. Rehg; Gary Witus

doi:10.1117/12.2010679

4 February 2013 Development of dog-like retrieving capability in a ground robot

Douglas C. MacKenzie, Rahul Ashok, James M. Rehg, Gary Witus

Proceedings Volume 8662, Intelligent Robots and Computer Vision XXX: Algorithms and Techniques; 86620M (2013) https://doi.org/10.1117/12.2010679
Event: IS&T/SPIE Electronic Imaging, 2013, Burlingame, California, United States

Abstract

This paper presents the Mobile Intelligence Team's approach to addressing the CANINE outdoor ground robot competition. The competition required developing a robot that provided retrieving capabilities similar to a dog, while operating fully autonomously in unstructured environments. The vision team consisted of Mobile Intelligence, the Georgia Institute of Technology, and Wayne State University. Important computer vision aspects of the project were the ability to quickly learn the distinguishing characteristics of novel objects, searching images for the object as the robot drove a search pattern, identifying people near the robot for safe operations, correctly identify the object among distractors, and localizing the object for retrieval. The classifier used to identify the objects will be discussed, including an analysis of its performance, and an overview of the entire system architecture presented. A discussion of the robot's performance in the competition will demonstrate the system’s successes in real-world testing.

Citation Download Citation

Douglas C. MacKenzie, Rahul Ashok, James M. Rehg, and Gary Witus "Development of dog-like retrieving capability in a ground robot", Proc. SPIE 8662, Intelligent Robots and Computer Vision XXX: Algorithms and Techniques, 86620M (4 February 2013); https://doi.org/10.1117/12.2010679

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available