DR 2.3.3: Bi-directional cooperation of low-level vision modules and higher level control

This report presents the results of WP2 for the third year of NIFTi. Vision plays an essential role in the robot perception and also serves as the primary source of information for robot tele-operation. We focused on vision for shared situation awareness (MS2.3). We contributed in machine learning for image understanding, object detection, navigation and orientation, and human/fire detection. We developed an algorithm for measuring terrain profile and applied it on automatic flipper control based. Machine learning approach was adopted for terrain classification from vibrations. We added thermal imaging to the sensory field and further advanced visual streaming for teleoperation.

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