TY - GEN
T1 - Sidewinder
T2 - 48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022
AU - Nakamoto, Rikuto
AU - Shimizu, Sota
AU - Takamura, Tomoki
AU - Carfi, Alessandro
AU - Mastrogiovanni, Fulvio
N1 - Funding Information:
This study was partially supported by JSPS Grants-in-Aid for Scientific Researches No.18K04055 and No.21K03983.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In this paper, the authors present Sidewinder, a unique stereo vision system for snake-shaped robots operating in search and rescue scenarios. The robot should navigate the environment by finding and passing through narrow spaces (i.e., forward vision task) and search for persons in need of rescue (i.e., panoramic vision task). Therefore, we propose two types of image mapping methods to generate respectively input images for stereo visual SLAM and person detection. This work presents preliminary results using Sidewinder's images as input for the ORS-SLAM2 for localization and mapping, and YOLO-v3, for person detection.
AB - In this paper, the authors present Sidewinder, a unique stereo vision system for snake-shaped robots operating in search and rescue scenarios. The robot should navigate the environment by finding and passing through narrow spaces (i.e., forward vision task) and search for persons in need of rescue (i.e., panoramic vision task). Therefore, we propose two types of image mapping methods to generate respectively input images for stereo visual SLAM and person detection. This work presents preliminary results using Sidewinder's images as input for the ORS-SLAM2 for localization and mapping, and YOLO-v3, for person detection.
KW - disaster response support
KW - forward vision
KW - image mapping methods
KW - multi-functional use
KW - panoramic vision
KW - person detection
KW - rescue robot
KW - snake robot
KW - stereo visual SLAM
KW - ultra-wide-angle high-definition camera
KW - unique stereo vision system
UR - http://www.scopus.com/inward/record.url?scp=85143911663&partnerID=8YFLogxK
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U2 - 10.1109/IECON49645.2022.9969091
DO - 10.1109/IECON49645.2022.9969091
M3 - Conference contribution
AN - SCOPUS:85143911663
T3 - IECON Proceedings (Industrial Electronics Conference)
BT - IECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society
PB - IEEE Computer Society
Y2 - 17 October 2022 through 20 October 2022
ER -