Evaluation of an interactive technique for creating site models from range data

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Recognizing and locating objects is crucial to robotic operations in unstructured environments. To satisfy this need, we have developed an interactive system for creating object models from range data based on simulated a annealing and supervisory control This interactive modeling system maximizes the advantages of both manual and autonomous methods while minimizing their weaknesses. Therefore, it should outperform purely autonomous or manual techniques. We have designed and executed experiments for the purpose of evaluating the performance of our application as compared to an identical but purely manually driven application. These experiments confirmed the following hypotheses: (1) Interactive modeling should outperform ... continued below

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8 p.

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Wood, F.W.; Hoff, W.A. & King, R. October 1, 1997.

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Description

Recognizing and locating objects is crucial to robotic operations in unstructured environments. To satisfy this need, we have developed an interactive system for creating object models from range data based on simulated a annealing and supervisory control This interactive modeling system maximizes the advantages of both manual and autonomous methods while minimizing their weaknesses. Therefore, it should outperform purely autonomous or manual techniques. We have designed and executed experiments for the purpose of evaluating the performance of our application as compared to an identical but purely manually driven application. These experiments confirmed the following hypotheses: (1) Interactive modeling should outperform purely manual modeling in total task time and fitting accuracy. (2) Operator effort decreases significantly when utilizing interactive modeling. (3) User expertise does not have a significant effect on interactive modeling task time. (4) Minimal human interaction will increase performance on {open_quotes}easy{close_quotes} scenes. Using 14 subjects and 8 synthetically generated scenes, we recorded the task times and pose data and, from them, used analysis of variance (ANOVA) to test a set of hypotheses.

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8 p.

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OSTI as DE98050466

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  • 7. American Nuclear Society topical meeting on robotics and remote systems, Augusta, GA (United States), 27 Apr - 1 May 1997

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  • Other: DE98050466
  • Report No.: INEL/CON--97-00009
  • Report No.: CONF-970464--
  • Grant Number: AC07-94ID13223
  • Office of Scientific & Technical Information Report Number: 610245
  • Archival Resource Key: ark:/67531/metadc697986

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Office of Scientific & Technical Information Technical Reports

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  • October 1, 1997

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  • Aug. 14, 2015, 8:43 a.m.

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  • May 20, 2016, 2:48 p.m.

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Wood, F.W.; Hoff, W.A. & King, R. Evaluation of an interactive technique for creating site models from range data, article, October 1, 1997; Idaho Falls, Idaho. (digital.library.unt.edu/ark:/67531/metadc697986/: accessed April 20, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.