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Fit for purpose? Predicting perception performance based on past experience

Abstract:

This paper explores the idea of predicting the likely performance of a robot’s perception system based on past experience in the same workspace. In particular, we propose to build a place-specific model of perception performance from observations gathered over time.We evaluate our method in a classical decision making scenario in which the robot must choose when and where to drive autonomously in 60km of driving data from an urban environment. We demonstrate that leveraging visual appearance ...

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Publication status:
Published
Peer review status:
Peer reviewed

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Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Role:
Author
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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Oxford college:
Pembroke College
Role:
Author
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Name:
Seventh Framework Programme
Grant:
610603
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Name:
Engineering & Physical Sciences Research Council
Grant:
EP/M019918/1
Publisher:
Springer
Host title:
International Symposium on Experimental Robotics (ISER)
Journal:
International Symposium on Experimental Robotics (ISER 2016) More from this journal
Publication date:
2017-03-01
Acceptance date:
2016-06-19
DOI:
Keywords:
Pubs id:
pubs:820453
UUID:
uuid:f7ec676f-fc75-4f0c-b65d-3073d377d6b4
Local pid:
pubs:820453
Source identifiers:
820453
Deposit date:
2018-01-22

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