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Experience-based Optimization of Robotic Perception

Durner, Maximilian and Kriegel, Simon and Riedel, Sebastian and Brucker, Manuel and Marton, Zoltan Csaba and Balint-Benczedi, Ferenc and Triebel, Rudolph (2017) Experience-based Optimization of Robotic Perception. In: International Conference on Advanced Robotics, Proceedings, ICAR. IEEE. ICAR 2017 - 18th International Conference on Advanced Robotics, 10-12 July 2017, Hong Kong, China. DOI: 10.1109/ICAR.2017.8023493 ISBN 978-1-5386-3157-7

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Abstract

As the performance of key perception tasks heavily depends on their parametrization, deploying versatile robots to different application domains will also require a way to tune these changing scenarios by their operators. As many of these tunings are found by trial and error basically by experts as well, and the quality criteria change from application to application, we propose a Pipeline Optimization Framework that helps overcoming lengthy setup times by largely automating this process. When deployed, fine-tuning optimizations as presented in this paper can be initiated on pre-recorded data, dry runs, or automatically during operation. Here, we quantified the performance gains for two crucial modules based on ground truth annotated data. We release our challenging THR dataset, including evaluation scenes for two application scenarios.

Item URL in elib:https://elib.dlr.de/113534/
Document Type:Conference or Workshop Item (Speech)
Additional Information:Finalist for Best Paper Award
Title:Experience-based Optimization of Robotic Perception
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Durner, Maximilianmaximilian.durner (at) dlr.dehttps://orcid.org/0000-0001-8885-5334
Kriegel, SimonSimon.Kriegel (at) dlr.dehttps://orcid.org/0000-0003-4711-8527
Riedel, Sebastiansebastian.riedel (at) dlr.dehttps://orcid.org/0000-0002-3655-2486
Brucker, Manuelmanuel.brucker (at) dlr.deUNSPECIFIED
Marton, Zoltan Csabazoltan.marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Balint-Benczedi, Ferencbalintbe (at) cs.uni-bremen.deUNSPECIFIED
Triebel, Rudolphrudolph.triebel (at) dlr.deUNSPECIFIED
Date:July 2017
Journal or Publication Title:International Conference on Advanced Robotics, Proceedings, ICAR
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/ICAR.2017.8023493
Publisher:IEEE
ISBN:978-1-5386-3157-7
Status:Published
Keywords:experience-based optimization, robotic perception, mobile robot, pipeline optimization framework
Event Title:ICAR 2017 - 18th International Conference on Advanced Robotics
Event Location:Hong Kong, China
Event Type:international Conference
Event Dates:10-12 July 2017
Organizer:The Chinese University of Hong Kong, China
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Durner, Maximilian
Deposited On:08 Dec 2017 12:20
Last Modified:08 Dec 2017 12:20

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