CS 547: Sensing and Planning in Robotics

09/20/1999


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Table of Contents

CS 547: Sensing and Planning in Robotics

What is Sensing ?

Types of Sensors

Types of Sensors

Types of Sensors

Types of Sensors

Sensors Based on EM Spectrum

Vision (camera + framegrabber)

EM Spectrum

The SICK Laser Rangefinder

EM Spectrum

Local Proximity Sensing in EM

Sensors Based on Sound

Sonar and IR Proxmity

Odor Sensors

Touch Sensors

Proprioceptive Sensors

Propriceptive Sensors

Sensor Fusion

Fusion and Integration

General Processing

Preprocessing

Fusion

Interpretation

Example: Wall Detection for Mapping

Example: Data Cloud from Ranging

Example

Example: After Cleanup

Line Segments

Example

Example: After fusion

Example: Interpretation

Example: After Interpretation

There are no (real) mapping sensors

Irritating AI Abstraction

Abstraction

Problem: Sensor Choice

Problem: Sensor Placement

Sensor Noise and Calibration

Noise

Noise

Measurement of Inclinometer Noise

Coping with Noise

Statistical Treatment

Use Noise Statistics to Combine

Next Time

 Author: Gaurav S. Sukhatme

Email: gaurav@robotics.usc.edu

Home Page: http://www-robotics.usc.edu/~gaurav