Tactile SLAM with a biomimetic whiskered robot

Fox, Charles W; Evans, Matt; Pearson, Martin; Prescott, Tony J.

Abstract

Future robots may need to navigate where visual sensors fail. Touch sensors provide an alternative modality, largely unexplored in the context of robotic map building. We present the first results in grid based simultaneous localisation and mapping (SLAM) with biomimetic whisker sensors, and show how multi-whisker features coupled with priors about straight edges in the world can boost its performance. Our results are from a simple, small environment but are intended as a first baseline to measure future algorithms against. © 2012 IEEE.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: IEEE International Conference on Robotics and Automation
• Start Date: May 14, 2012
• End Date: May 18, 2012
• Online Publication Date: Jun 28, 2012
• Publication Date: 2012
• Deposit Date: Jan 21, 2013
• Publicly Available Date: Feb 10, 2016
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Pages: 4925-4930
• Book Title: 2012 IEEE International Conference on Robotics and Automation
• ISBN: 9781467314039
• DOI: https://doi.org/10.1109/ICRA.2012.6224813
• Keywords: SLAM, biomimetic whiskered robot, tactile
• Public URL: https://uwe-repository.worktribe.com/output/952902
• Additional Information: Title of Conference or Conference Proceedings : IEEE International Conference on Robotics and Automation (ICRA)
• Contract Date: Feb 10, 2016