A lot of research has already been done to create maps robots can use to navigate a given area, such as estimating the distance between themselves and nearby walls, and planning routes around obstacles, said Fallon. But these maps are developed mostly for a single, one-time use, and can't be adjusted to changing surroundings over time. "If you see objects that were not there previously, it is difficult for a robot to incorporate that into its map," he said.
The team also includes John J. Leonard, professor of mechanical and ocean engineering, and graduate student Hordur Johannsson.
The team previously tested the approach on robots that were equipped with expensive laser scanners, but have since implemented it with a Kinect-type camera in a robotic wheelchair, a portable sensor suit, and a PR2 robot developed by Willow Garage. On these devices, the system can continuously locate the robotic hardware within a 3D map of its surroundings while traveling at speeds of up to 1.5 meters per second.
The Kinect sensor's visible-light video camera and infrared depth sensor scan the robot's surroundings as it moves through a new, unexplored area, while the robot builds up a 3D model of the walls of a room and the objects within it. Map details can include location information about the edges of walls and objects within the walls.
When the robot visits the same area again, the system compares the previous images it has taken with the features of the new image it creates until it detects a match. Once the system has decided on its location, any new features it encounters since it took the previous picture of that location are incorporated into the map by combining new and old images.
While the system is making and updating maps, it is also continuously estimating the robot’s motion by measuring the distance its wheels have rotated, with onboard sensors. The system can determine the robot's position within a building by combining the motion data with visual information from the camera and depth sensor, which also serves as a form of error correction, said Fallon.
It is interesting that this robot uses the Kinect camera system rather than the complex sensors used in the past. It seems that as we continuously develop vision processing that it becomes more useful. It is also often less expensive. Sometimes it is very inexpensive. I have an older BlackBerry Curve. It uses a trackball. I have replaced the trackball. It cost about $2.50. Newer models use a low resolution camera in place of the trackball. It only has to sense the direction of movement, not any other details. So, it works fine and is longer lived than the trackball. It is also simpler to build and probably cheaper to install. Any software cost is amortized over all the devices sold, so that is near zero. This is the same with the robot.
I have seen the robots with multiple laser sensors and sonar or radar. These were fantastically expensive and still not as good as a human operator. Humans use vision. Perhaps the MIT researchers are on to something here.
In the ethics of software column earlier this month, the subject of unintended consequences was discussed, and how no one could predict their creation would be mis-used.
I am constantly amazed how many different ways the Kinect interface (and the Wii interface) have been implemented, demonstrating how versatile a creation can be in a good way.
naperlou, I was also interested to see the Kinect motion sensing camera/system used in aiding with 3D mapmaking. To me, when I read this it was one of those "of course" moments. The team also used laser scanners in a previous rev of this project.
TJ, I agree with you about the unexpected uses of technology innovations. In the case of the Kinect camera/sensor system for this robot app, note that the team also implemented their approach with the Kinect system in a robotic wheelchair and a portable sensor suit, in addition to the PR2 platform.
What I'm getting from your recent spate of apps stories, Ann, is that robotics apps are extending their arms, so to speak, well beyond the straight industrial arena in which I already assumed they were in heavy use. But there seem to be numerous medical, mil, and other apps of which I'd been unaware. Very interesting.
Thanks, Alex. Yes, I was intrigued to discover that robots are all over the place: they're not just for industry anymore, although that's their largest area of concentration. They are in medicine and healthcare, outer space, used by the military in the air and on the ground, and are learning to do all kinds of new things like navigate autonomously in a novel environment, fly in formation in swarms, build structures and even play in concert:
I've been hearing a lot about the Kinect motion system in simulation and other types of 3D apps as well. It seems like another one of those instances where consumer technology is influencing the development of commercial/business applications, which is interesting.
This is interesting TJ, the ethics question came to me also, although I was thinking more during war time. I think we have all seen videos of enemy soldiers trying to surrender to drones - before they get blown up.
The influx of robots in war raises a unique moral question about surrendering to a mechanical entity that a human is monitoring.
Chuck, that video went viral in about a week after it was posted. Although I think much of that is due to the cute and/or novelty factor, I also think much of the engineering appeal will be wondering how they are synchronized in yet another form of swarming behavior.
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We looked at a number of sources to determine this year's greenest cars, from KBB to automotive trade magazines to environmental organizations. These 14 cars emerged as being great at either stretching fuel or reducing carbon footprint.
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