LiDAR-guided object search and detection in Subterranean Environments

by   Manthan Patel, et al.

Detecting objects of interest, such as human survivors, safety equipment, and structure access points, is critical to any search-and-rescue operation. Robots deployed for such time-sensitive efforts rely on their onboard sensors to perform their designated tasks. However, as disaster response operations are predominantly conducted under perceptually degraded conditions, commonly utilized sensors such as visual cameras and LiDARs suffer in terms of performance degradation. In response, this work presents a method that utilizes the complementary nature of vision and depth sensors to leverage multi-modal information to aid object detection at longer distances. In particular, depth and intensity values from sparse LiDAR returns are used to generate proposals for objects present in the environment. These proposals are then utilized by a Pan-Tilt-Zoom (PTZ) camera system to perform a directed search by adjusting its pose and zoom level for performing object detection and classification in difficult environments. The proposed work has been thoroughly verified using an ANYmal quadruped robot in underground settings and on datasets collected during the DARPA Subterranean Challenge finals.


page 1

page 4

page 5


Object Semantics Give Us the Depth We Need: Multi-task Approach to Aerial Depth Completion

Depth completion and object detection are two crucial tasks often used f...

ThermRad: A Multi-modal Dataset for Robust 3D Object Detection under Challenging Conditions

Robust 3D object detection in extreme weather and illumination condition...

Efficient Online Transfer Learning for 3D Object Classification in Autonomous Driving

Autonomous driving has achieved rapid development over the last few deca...

Automatic streetlights that glow on detecting night and object using Arduino

Our manuscript aims to develop a system which will lead to energy conser...

Comparative study of 3D object detection frameworks based on LiDAR data and sensor fusion techniques

Estimating and understanding the surroundings of the vehicle precisely f...

Artifacts Mapping: Multi-Modal Semantic Mapping for Object Detection and 3D Localization

Geometric navigation is nowadays a well-established field of robotics an...

Performance Evaluation of LTE-CommSense System for Discrimination of Presence of Multiple Objects in Outdoor Environment

LTE-CommSense is a novel instrumentation scheme which analyzes channel a...

Please sign up or login with your details

Forgot password? Click here to reset