MRI: Acquisition of mobile robots to support indoor navigation and online 3D object detection

今天，移动智能机器人被用于辅助生活和医疗保健领域，因为它们可以陪伴人们，帮助他们，并被用来有效地支持各种应用，如导航。这个名为SemaFORR的项目使用两个配备了多个真实世界传感器的机器人，在传统的导航假设无法使用的情况下，提供认知上可信的解决方案。这些机器人的装备可以根据3D距离数据提供自主导航和实时分类。该项目强调了认知在导航中的作用，通过推动分类算法的最新技术来增强移动机器人的图像理解能力。该项目解决了有助于解决挑战性问题的多方法搜索、推理学习、表示、在线最快检测和分类方面的基本问题，涉及提高移动机器人的图像理解能力。这一目标是通过开发实时分类和目标检测来实现的，以帮助计算机和人解决具有挑战性的问题。在开源标准ROS(Robot Operating System)下运行的算法可以作为构建和测试算法的基础：1.通过集成一种新的体系结构方法来增强导航和认知合理决策，该方法使机器人能够学习表示特殊负担的动态空间模型；2.通过执行基于阶段的3D分类来增强在线实时目标检测和分类；以及3.通过平衡目标分类的精度和速度来优化算法。

Mobile intelligent robots are used today in the domain of assisted living and health care, as they can accompany people, assist them, and be used to effectively support various applications, such as navigation. This project called SemaFORR, uses two robots equipped with multiple real-world sensors to provide cognitively plausible solution when traditional navigation assumptions cannot be used. The robots are equipped to provide an autonomous navigation and real time classification from 3D range data. The project highlights the role of cognition in navigation, enhancing the image-understanding capabilities of mobile robots by pushing the state of the art in classification algorithms. Addressing fundamental issues in multi-method search, inference learning, representation, online quickest detection and classification that contribute in solving challenging problems, the project involves increasing the image-understanding capabilities of mobile robots. This goal is to be accomplished by developing real time classification and object detection to help computers and people solve challenging problems. Operating under the open-source standard ROS (Robot Operating System) serves as the base on which to build and test algorithms to: 1. Enhance navigation with cognitive plausible decision making by integrating a novel architectural method that enables the robot to learn a dynamic spatial model that diagrams special affordances; 2. Enhance online real-time object detection and classification by performing a stage-based 3D classification; and 3. Optimize algorithms by balancing the tradeoff between accuracy and speed of object classification.