Human assisted robotic exploration

B. T. Files; J. Canady; G. Warnell; E. Stump; W. D. Nothwang; A. R. Marathe

doi:10.1117/12.2222887

25 May 2016 Human assisted robotic exploration

B. T. Files, J. Canady, G. Warnell, E. Stump, W. D. Nothwang, A. R. Marathe

Proceedings Volume 9836, Micro- and Nanotechnology Sensors, Systems, and Applications VIII; 98361Y (2016) https://doi.org/10.1117/12.2222887
Event: SPIE Defense + Security, 2016, Baltimore, MD, United States

Abstract

In support of achieving better performance on autonomous mapping and exploration tasks by incorporating human input, we seek here to first characterize humans’ ability to recognize locations from limited visual information. Such a characterization is critical to the design of a human-in-the-loop system faced with deciding whether and when human input is useful. In this work, we develop a novel and practical place-recognition task that presents humans with video clips captured by a navigating ground robot. Using this task, we find experimentally that human performance does not seem to depend on factors such as clip length or familiarity with the scene and also that there is significant variability across subjects. Moreover, we find that humans significantly outperform a state-of-the-art computational solution to this problem, suggesting the utility of incorporating human input in autonomous mapping and exploration techniques.

Citation Download Citation

B. T. Files, J. Canady, G. Warnell, E. Stump, W. D. Nothwang, and A. R. Marathe "Human assisted robotic exploration", Proc. SPIE 9836, Micro- and Nanotechnology Sensors, Systems, and Applications VIII, 98361Y (25 May 2016); https://doi.org/10.1117/12.2222887

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available