Adaptive Data Compression for Robot Perception

Smith, Mike; Posner, Ingmar; Newman, Paul M.

doi:10.5591/978-1-57735-516-8/IJCAI11-457

Adaptive Data Compression for Robot Perception

Mike Smith, Ingmar Posner, Paul M. Newman

Download BibTeX Cite

Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence. Pages 2746-2750.

https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-457

Abstract

This paper concerns the creation of an efficient, continuous, non-parametric representation of surfaces implicit in 3D laser data as typically recorded by mobile robots. Our approach explicitly leverages the probabilistic nature of Gaussian Process regression to provide for a principled, adaptive subsampling which automatically prunes redundant data. The algorithm places no restriction on the complexity of the underlying surfaces and enables predictions at arbitrary locations and densities. We present results using real and synthetic data and show that our approach attains decimation factors in excess of two orders of magnitude without significant degradation in fidelity of the workspace reconstructions.

Mike Smith, Ingmar Posner, and Paul M. Newman. 2011. Adaptive Data Compression for Robot Perception. In Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence, IJCAI-11. IJCAI, 2746–2750. https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-457

@inproceedings{ijcai2011p457,
  title     = {Adaptive Data Compression for Robot Perception},
  author    = {Smith, Mike and Posner, Ingmar and Newman, Paul M.},
  booktitle = {Proceedings of the Twenty-Second International Joint Conference on
               Artificial Intelligence, {IJCAI-11}},
  publisher = {AAAI Press/International Joint Conferences on Artificial Intelligence},
  editor    = {Toby Walsh},
  pages     = {2746--2750},
  year      = {2011},
  month     = {7},
  doi       = {10.5591/978-1-57735-516-8/IJCAI11-457},
  url       = {https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-457},
}

TY  - CPAPER
TI  - Adaptive Data Compression for Robot Perception
AU  - Smith, Mike
AU  - Posner, Ingmar
AU  - Newman, Paul M.
T2  - Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence, IJCAI-11
PB  - AAAI Press/International Joint Conferences on Artificial Intelligence
PY  - 2011
SP  - 2746
EP  - 2750
DO  - 10.5591/978-1-57735-516-8/IJCAI11-457
UR  - https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-457
ER  -