Towards reliable perception for unmanned ground vehicles in challenging conditions

Authors:
Thierry Peynot;James Underwood;Steven Scheding
Affiliations:
ARC Centre of Excellence for Autonomous Systems, Australian Centre for Field Robotics, The University of Sydney, NSW, Australia;ARC Centre of Excellence for Autonomous Systems, Australian Centre for Field Robotics, The University of Sydney, NSW, Australia;ARC Centre of Excellence for Autonomous Systems, Australian Centre for Field Robotics, The University of Sydney, NSW, Australia
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

This work aims to promote reliability and integrity in autonomous perceptual systems, with a focus on outdoor unmanned ground vehicle (UGV) autonomy. For this purpose, a comprehensive UGV system, comprising many different exteroceptive and proprioceptive sensors has been built. The first contribution of this work is a large, accurately calibrated and synchronised, multi-modal data-set, gathered in controlled environmental conditions, including the presence of dust, smoke and rain. The data have then been used to analyse the effects of such challenging conditions on perception and to identify common perceptual failures. The second contribution is a presentation of methods for mitigating these failures to promote perceptual integrity in adverse environmental conditions.