Active Surface/Subsurface Perception for Autonomous Excavation - Robotics Institute Carnegie Mellon University

Active Surface/Subsurface Perception for Autonomous Excavation

Conference Paper, Proceedings of SPIE Sensor Fusion and Aerospace Applications II, pp. 154 - 167, June, 1994

Abstract

Using surface and subsurface sensing, we have developed a perception system for autonomous retrieval of buried objects. The subsurface sensing system uses Ground Penetrating Radar (GPR) to locate buried objects. A 2D laser rangefinder system generates an elevation map, and using this map a robotic arm positions the GPR antenna. This setup allows us to automate the GPR data collection. An image processing algorithm is used to locate the object of interest in the GPR data. After it is located, we use sense and dig cycle to retrieve the object.

BibTeX

@conference{Herman-1994-13713,
author = {Herman Herman and Anthony (Tony) Stentz},
title = {Active Surface/Subsurface Perception for Autonomous Excavation},
booktitle = {Proceedings of SPIE Sensor Fusion and Aerospace Applications II},
year = {1994},
month = {June},
pages = {154 - 167},
}