Slope Perception from Monoscopic Field Images: Applications to Mobile Robot Navigation |
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Authors: | Zhen Xiang Geb W Thomas Kristopher M Thornburg Nathalie Cabrol Edmond Grin Robert C Anderson |
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Affiliation: | (1) The University of Iowa, Iowa City, IA, USA;(2) NASA Ames/SETI, Moffett Field, CA, USA;(3) Jet Propulsion Laboratory, Pasadena, CA, USA |
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Abstract: | When remotely navigating a mobile robot, operators must estimate the slope of local terrain in order to avoid areas that are
too steep to climb or that slope so steeply downward that the operator would lose control of the rover. Although many rovers
are equipped with sensor systems to aid the operator in this task, it is sometimes necessary to estimate slopes from two-dimensional
images, either when planning operations or when the operator wishes to monitor the results of a sensor system. This experiment
compares the operator’s estimates of the slope in Martian terrain with the actual slope determined from three-dimensional
data. The ten participants overestimated the slope of the indicated regions by an average of 19° (SD 16°). An analytic model
of the error, based on psychophysical analysis, accurately predicts the average magnitude of the errors. Implementation of
this model eliminates an average amount of participant error. However, the large estimate variance within and between participants
and images still poses a challenge for accurate slope estimation. |
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Keywords: | Slope perception Slope estimation Robotic teleoperation Slope perception model Image perception |
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