Fox, C., Evans, M., Pearson, M. et al. (1 more author) (2012) Tactile SLAM with a biomimetic whiskered robot. In: Robotics and Automation (ICRA), 2012 IEEE International Conference on. 2012 IEEE International Conference on Robotics and Automation, 14-18 May 2012, St Paul, MN, USA. IEEE , pp. 4925-4930. ISBN 978-1-4673-1403-9
Abstract
Future robots may need to navigate where visual sensors fail. Touch sensors provide an alternative modality, largely unexplored in the context of robotic map building. We present the first results in grid based simultaneous localisation and mapping (SLAM) with biomimetic whisker sensors, and show how multi-whisker features coupled with priors about straight edges in the world can boost its performance. Our results are from a simple, small environment but are intended as a first baseline to measure future algorithms against.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2012 IEEE. This is an author produced version of a paper subsequently published in Robotics and Automation (ICRA), 2012 IEEE International Conference on. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 21 Feb 2017 15:11 |
Last Modified: | 19 Dec 2022 13:34 |
Published Version: | https://doi.org/10.1109/ICRA.2012.6224813 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/ICRA.2012.6224813 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:108430 |