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Proceedings Paper

Human assisted robotic exploration
Author(s): B. T. Files; J. Canady; G. Warnell; E. Stump; W. D. Nothwang; A. R. Marathe
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Paper 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.

Paper Details

Date Published: 25 May 2016
PDF: 11 pages
Proc. SPIE 9836, Micro- and Nanotechnology Sensors, Systems, and Applications VIII, 98361Y (25 May 2016); doi: 10.1117/12.2222887
Show Author Affiliations
B. T. Files, U.S. Army Research Lab. (United States)
J. Canady, U.S. Army Research Lab. (United States)
G. Warnell, U.S. Army Research Lab. (United States)
E. Stump, U.S. Army Research Lab. (United States)
W. D. Nothwang, U.S. Army Research Lab. (United States)
A. R. Marathe, U.S. Army Research Lab. (United States)


Published in SPIE Proceedings Vol. 9836:
Micro- and Nanotechnology Sensors, Systems, and Applications VIII
Thomas George; Achyut K. Dutta; M. Saif Islam, Editor(s)

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