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Autonomous Attentive Exploration in Search and Rescue Scenarios
| Citations: | 2 - 1 self |
BibTeX
@MISC{Carbone_autonomousattentive,
author = {Andrea Carbone and Daniele Ciacelli and Alberto Finzi and Fiora Pirri},
title = {Autonomous Attentive Exploration in Search and Rescue Scenarios},
year = {}
}
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Abstract
Abstract. In task-oriented exploration a robot has to direct its sight and delving towards the most promising regions of the environment, according to the task, in order to optimize its search. If the goal is dynamically set on the basis of what it is perceived, attention plays a crucial role, as it allows to combine fast glancing with accurate analysis, enabling the robot to quickly jump to conclusion by selecting the interesting spots in the environment requiring a further analysis. We present a task-oriented attentive exploration system designed for an autonomous rover working in rescue scenarios. The visual-attention process combined with the simultaneous localization and mapping one guides the robot search through an incremental generation of a global saliency map obtained according to transportation processes. Interesting features diffuse streams of particles warming up those map areas they pass through, in so generating hot regions that result in optimal vantage points for the robot to observe the salient spots glanced at while searching. We show the effectiveness of the approach by providing experimental results and comparisons. 1
Keyphrases
rescue scenario autonomous attentive exploration robot search crucial role simultaneous localization map area task-oriented exploration accurate analysis salient spot autonomous rover transportation process optimal vantage point promising region delving towards visual-attention process hot region experimental result incremental generation interesting spot global saliency map task-oriented attentive exploration system
