Robotic Mapping: an architectural approach S. Bonetti - F. - - PowerPoint PPT Presentation
Robotic Mapping: an architectural approach S. Bonetti - F. Fiamberti - D. Micucci - F. Tisato D.I.S.Co. University of Milano-Bicocca - Italy D I P A R T I M E N T O D I P A R T I M E N T O D I D I I N F O R M A T I C A I N F O R M A T I C A
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D I P A R T I M E N T O D I I N F O R M A T I C A S I S T E M I S T I C A E C O M U N I C A Z I O N E D I P A R T I M E N T O D I I N F O R M A T I C A S I S T E M I S T I C A E C O M U N I C A Z I O N E
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It contextualizes data produced by the associated physical sensor as an occupancy map
SOM Map Update Data Acquisition Raw Data ActivityInitial ActivityFinal
cell i j = P H sn Real environment Occupancy map
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Laser orientation Entity frame of reference World frame of reference
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SOM Map Update Data Acquisition Raw Data ActivityInitial ActivityFinal
Entity frame of reference World frame of reference Camera FOV Edge
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SOM Map Update Data Acquisition Raw Data ActivityInitial ActivityFinal
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It integrates and fuses environment representations from different sensors producing a single environment map
WOM WRM Analysis & Planning
It implements the application strategy for the map construction
Low relevance High relevance
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It manages the activation of the associated sensor by evaluating a trade-off between activation costs and benefits.
– It spatially contextualizes the computational cost (either static or dynamic) of activations of the associated sensor
Infinite cost Low cost High cost
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Camera FOV
– It defines the areas that must be analyzed by the associated sensor
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Attractive cell
SOM Map Update Raw Data SAM Analysis Data Acquisition SAM Identification of Interesting Areas WRM * Grid Cell Coordinate Sensor Activity Planification SCM
SOM WRM SCM SAM
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SC SAP
Sensor Component Virtual Sensor Component
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SOM Map Update Data Acquisition SAM Analysis SAM ActivityInitial ActivityFinal SCM Raw Data SOM Map Update SOM Analysis and Processing SAM Analysis SAM ActivityInitial ActivityFinal SCM SOM
Application Strategy World Map Builder Sensor Activities Planner Sensor Component
SAM SCM SOM
Virtual Sensor Component Sensor Activities Planner
SAM SCM SOM
Sensor Activities Planner Sensor Component
SAM SCM SOM WOM WRM 15
… … … …
Application Strategy World Map Builder Sensor Activities Planner Sensor Component
SAM SCM SOM
Sensor Activities Planner Sensor Component
SAM SCM SOM WOM WRM 16
Start-up situation WOM WRM Laser SOM Camera SOM 17
Activation of both sensors and update of the corresponding SOMs WOM WRM Laser SOM Camera SOM
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Update of the world model and relevance map WOM WRM Laser SOM Camera SOM
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Activation of the laser sensor WOM WRM Laser SOM Camera SOM
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Update of the world model and choice of a new strategy WOM WRM Laser SOM Camera SOM
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– Scalable – Modular – Open – Independent of application strategies
– Extensive experimentations – Integration with additional sensor typologies – Application to real-life cases
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considered "solved"? Allowing for the application of low-cost/low-performance sensors to the problem of robotic mapping. In fact, such a problem is known to involve large amounts of data to be elaborated and fused.
practice and why? Separation of concerns, which allows to dominate the problem’s complexity by decomposing the system in sub-components.
The approach is general and should be used every time a system is made of multiple activities. The specific approach is aimed at solving a robotic-specific issue.
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The definition of a sensible strategy for every decisional component.
problems? To the knowledge of the authors, no solutions to the robotic mapping problem exist which exploit both an architectural approach and the use of low-cost sensors.
Performing thorough experimentations to test the validity of the approach and devise correct strategies for the decisional components.
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