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Has something changed here?: Autonomous difference detection for security patrol robots
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0002-2953-1564
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0001-8658-2985
Örebro University, Department of Natural Sciences. (AASS)ORCID iD: 0000-0003-0217-9326
2007 (English)In: 2007 IEEE/RSJ international conference on intelligent robots and systems, New York, NY, USA: IEEE, 2007, p. 3429-3435, article id 4399381Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a system for autonomous change detection with a security patrol robot. In an initial step a reference model of the environment is created and changes are then detected with respect to the reference model as differences in coloured 3D point clouds, which are obtained from a 3D laser range scanner and a CCD camera. The suggested approach introduces several novel aspects, including a registration method that utilizes local visual features to determine point correspondences (thus essentially working without an initial pose estimate) and the 3D-NDT representation with adaptive cell size to efficiently represent both the spatial and colour aspects of the reference model. Apart from a detailed description of the individual parts of the difference detection system, a qualitative experimental evaluation in an indoor lab environment is presented, which demonstrates that the suggested system is able register and detect changes in spatial 3D data and also to detect changes that occur in colour space and are not observable using range values only.

Place, publisher, year, edition, pages
New York, NY, USA: IEEE, 2007. p. 3429-3435, article id 4399381
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4260DOI: 10.1109/IROS.2007.4399381ISI: 000254073202088Scopus ID: 2-s2.0-51349135485ISBN: 978-1-4244-0912-9 (print)OAI: oai:DiVA.org:oru-4260DiVA, id: diva2:138559
Conference
IEEE/RSJ international conference on intelligent robots and systems, 2007, IROS-2007, San Diego, USA, Oct. 29-Nov. 02, 2007
Available from: 2007-12-13 Created: 2007-12-13 Last updated: 2018-06-12Bibliographically approved

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Has Something Changed Here?: Autonomous Difference Detection for Security Patrol Robots(878 kB)14 downloads
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Andreasson, HenrikMagnusson, MartinLilienthal, Achim

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