The autonomous city explorer project: aims and system overview

Lidoris, Georgios; Klasing, Klaas; Bauer, Andrea; Xu, Tingting; Kühnlenz, Kolja; Wollherr, Dirk; Buss, Martin

doi:10.1109/iros.2007.4399411

Cited by 26 publications

(13 citation statements)

References 19 publications

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“…The complete system measures 178 cm in height, including the camera head, and weighs approximately 160 kg. A more detailed description of the hardware architecture and the system design can be found in [20], [21]. The mobile platform with a laser range finder serves as the mobile base of the system.…”

Section: A the Autonomous City Explorer -Acementioning

confidence: 99%

Robots asking for directions — The willingness of passers-by to support robots

Weiss

Igelsbock

Tscheligi

et al. 2010

2010 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI)

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This paper reports about a human-robot interaction field trial conducted with the autonomous mobile robot ACE (Autonomous City Explorer) in a public place, where the ACE robot needs the support of human passers-by to find its way to a target location. Since the robot does not possess any prior map knowledge or GPS support, it has to acquire missing information through interaction with humans. The robot thus has to initiate communication by asking for the way, and retrieves information from passers-by showing the way by gestures (pointing) and marking goal positions on a still image on the touch screen of the robot. The aims of the field trial where threefold: (1) Investigating the aptitude of the navigation architecture, (2) Evaluating the intuitiveness of the interaction concept for the passers-by, (3) Assessing people's willingness to support the ACE robot in its task, i.e. assessing the social acceptability. The field trial demonstrates that the architecture enables successful autonomous path finding without any prior map knowledge just by route directions given by passers-by. An additional street survey and observational data moreover attests the intuitiveness of the interaction paradigm and the high acceptability of the ACE robot in the public place.

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Section: A the Autonomous City Explorer -Acementioning

confidence: 99%

Robots asking for directions — The willingness of passers-by to support robots

Weiss

Igelsbock

Tscheligi

et al. 2010

2010 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI)

Self Cite

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“…Probable robot poses for a given time instance are calculated using the particlefiltering framework that we will introduce in the next section. Edge chamfer matching score normalized to [0,1] interval is used as the map matching observation likelihood. When comparing two binary images, chamfer matching returns a result that is robust against small translational, scaling and rotational inconsistencies and pixel errors.…”

Section: Map Matchingmentioning

confidence: 99%

“…Researchers have built systems that navigate in urban environments and find their way by interacting with pedestrians [1]. A real world robot challenge is being carried out in Japan since 2007, where robots have to navigate autonomously, through a given 1-km walkway course [2].…”

Section: Introductionmentioning

confidence: 99%

Satellite image based precise robot localization on sidewalks

Senlet

Elgammal

2012

2012 IEEE International Conference on Robotics and Automation

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Abstract-In this paper, we present a novel computer vision framework for precise localization of a mobile robot on sidewalks. In our framework, we combine stereo camera images, visual odometry, satellite map matching, and a sidewalk probability transfer function obtained from street maps in order to attain globally corrected localization results. The framework is capable of precisely localizing a mobile robot platform that navigates on sidewalks, without the use of traditional wheel odometry, GPS or INS inputs. On a complex 570-meter sidewalk route, we show that we obtain superior localization results compared to visual odometry and GPS.

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“…This article presents results from the Autonomous City Explorer (ACE) project [13,14]. The goal of this project was to create a robot that must do both: navigate in an unknown urban environment and interact with human passers-by in order to retrieve information.…”

Section: Introductionmentioning

confidence: 99%

The Autonomous City Explorer: Towards Natural Human-Robot Interaction in Urban Environments

Bauer

Klasing

Lidoris

et al. 2009

Int J of Soc Robotics

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The Autonomous City Explorer (ACE) project combines research from autonomous outdoor navigation and human-robot interaction. The ACE robot is capable of navigating unknown urban environments without the use of GPS data or prior map knowledge. It finds its way by interacting with pedestrians in a natural and intuitive way and building a topological representation of its surroundings. In a recent experiment the robot managed to successfully travel a 1.5 km distance from the campus of the Technische Universität München to Marienplatz, the central square of Munich.This article describes the principles and system components for navigation in urban environments, information retrieval through natural human-robot interaction, the construction of a suitable semantic representation as well as results from the field experiment.

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The autonomous city explorer project: aims and system overview

Cited by 26 publications

References 19 publications

Robots asking for directions — The willingness of passers-by to support robots

Robots asking for directions — The willingness of passers-by to support robots

Satellite image based precise robot localization on sidewalks

The Autonomous City Explorer: Towards Natural Human-Robot Interaction in Urban Environments

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