Inferring door locations from a teammate's trajectory in stealth human-robot team operations
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,...
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| Main Authors: | , , , |
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| Format: | text |
| Language: | English |
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Institutional Knowledge at Singapore Management University
2015
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| Subjects: | |
| Online Access: | https://ink.library.smu.edu.sg/sis_research/8249 https://ink.library.smu.edu.sg/context/sis_research/article/9252/viewcontent/oh2015_iros.pdf |
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| Institution: | Singapore Management University |
| Language: | English |
| Summary: | 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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