Inspection-on-the-fly using Hybrid Physical Interaction Control for Aerial Manipulators

Abbaraju, Praveen; Ma, Xin; Manoj, Harikrishnan; Venkatesh, Vishnunandan LN.; Rastgaar, Mo; Voyles, Richard M.

doi:10.48550/arxiv.2010.09605

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2021

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“…We call this identification-on-the-fly as it enables multi modal perception for intelligent and self-adaptive systems. [8]. Extending this methodology to coarse identification and classification of indoor spaces yields systems capable of multi-modal perception and intelligent operation yet efficient, especially for BIM development.…”

Section: Introductionmentioning

confidence: 99%

Clutter Slices Approach for Identification-on-the-fly of Indoor Spaces

Kaur¹,

Abbaraju²,

McCarty³

et al. 2021

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Construction spaces are constantly evolving, dynamic environments in need of continuous surveying, inspection, and assessment. Traditional manual inspection of such spaces proves to be an arduous and time-consuming activity. Automation using robotic agents can be an effective solution. Robots, with perception capabilities can autonomously classify and survey indoor construction spaces. In this paper, we present a novel identification-on-the-fly approach for coarse classification of indoor spaces using the unique signature of clutter. Using the context granted by clutter, we recognize common indoor spaces such as corridors, staircases, shared spaces, and restrooms. The proposed clutter slices pipeline achieves a maximum accuracy of 93.6% on the presented clutter slices dataset. This sensor independent approach can be generalized to various domains to equip intelligent autonomous agents in better perceiving their environment.

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Section: Introductionmentioning

confidence: 99%