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CANINE - A robotic mine dog

           












| Paper 

Description


The purpose of this effort is to develop the sensing and processing capabilities to enable a small mobile robot (CANINE) to act as a mine dog. Mine dogs were used to look for dangerous objects such as mines, unexploded ordnance and trip wires. For this effort, the concept of operations is to show CANINE an object of interest, have it learn the salient features of that object, and then search for and recover the object after it has been thrown in a field containing distractor objects and other obstacles. This effort requires developing novel capabilities in object recognition, human-robot interaction, and behavior management. A multi-faceted approach to object recognition is proposed, which fuses multiple image and geometric features to improve robustness.


Challenges


1. From the course starting point, the CANINE vehicle will be shown a single object by the operator. That object will be thrown a minimum of 10 meters from the outside edge of the 2 m circle in the direction of the challenge. The CANINE vehicle must then retrieve the object and bring it back to the starting point.

2. From the course starting point, the CANINE vehicle will be shown a single object by the operator. That object will then be thrown a minimum of 10 meters from the outside edge of the 2 m circle in the direction of the challenge. There will be other objects in the field of similar shape but of different colors. The CANINE vehicle must retrieve the original object it was shown and bring it back to the starting point.
3. From the course starting point, the CANINE vehicle will be shown a single object by the operator. There will be an identical object placed within a 10 meter radius of the starting point. Also within the 10 meter radius are objects of the same shape but of different color. The CANINE vehicle must search for the object of the same shape and color as the original and bring it to the operator, who has moved to the Challenge 3 Ending point.

                            

4. From the course starting point, the CANINE vehicle will be shown a single object by the operator. There will be an identical object placed within a 10 meter radius of the starting point. Also within the 10 meter radius are objects of the same color but different shape. The CANINE vehicle must search for the object of the same shape and color as the original and bring it to
the operator, who has moved to the Challenge 4 Ending point.

                                 

5. From the course starting point, the CANINE vehicle will be shown a single object by the operator. That object will then be thrown a minimum of 10 meters from the outside edge of the 2 m circle in the direction of the challenge. The CANINE vehicle must then retrieve the object and bring it back to the judge at the starting point. Human judges will be standing between the starting point and the object to act as obstacles. The CANINE vehicle must navigate its way to the object and back while avoiding contact with the human judges.

       
6. From the course starting point, the CANINE vehicle will be shown a single object by the operator. There will be an identical ob object placed within a 10 meter radius of the starting point. Also within the 10 meter radius are objects of the same shape but of different color and objects of the same color but different shape. The CANINE vehicle must search for the object of the same shape and color as the original and bring it to the operator, who has moved to the Challenge 6 Ending point.

                             


Other rules are contained in this document.


Perception and Object Recognition


The perception module is implemented as a series of filters, each of which uses a model that is learned online prior to object detection and retrieval. 



Other details are available in the paper (Section 4, Page 5-8).



CANINE




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