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Ground truth data using 3D imaging for urban search and rescue robots

Published: 21 September 2009 Publication History

Abstract

The National Institute of Standards and Technology (NIST) is leading an effort to develop performance standards for urban search and rescue robots (US&R). An important component of developing performance standards for these robots is capturing ground truth data that represents the geometry of the robot operating environment. This paper describes two ground truth data collection efforts conducted in 2006 and 2008 at the Texas Engineering Extension Service Disaster City training facility in College Station, Texas. Several indoor and outdoor training scenarios were captured with 3D imaging systems and the data is now publicly available through NIST to support research and development of robotic technologies for the US&R domain.

References

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ASTM. ASTM E2544 - 09b Standard Terminology for Three-Dimensional (3D) Imaging Systems. ASTM, 2009.
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S. Balakirsky, F. M. Proctor, C. J. Scrapper, and T. R. Kramer. An integrated control and simulation environment for mobile robot software development. In Proceedings of the International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences, August 2008.
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A. Jacoff, A. Downs, A. Virts, and E. Messina. Stepfield pallets: Repeatable terrain for evaluating robot mobility. In Proceedings of the 2008 Performance Metrics for Intelligent Systems (PerMIS) Workshop, 2008.
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A. S. Jacoff and E. R. Messina. DHS/NIST Response Robot Evaluation Exercises. In Proceedings of the 2006 IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR), January 2007.
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A. S. Jacoff and E. R. Messina. Urban search and rescue robot performance standards: Progress update. In Proceedings of the 2007 SPIE Defense and Security Conference, June 2007.
  1. Ground truth data using 3D imaging for urban search and rescue robots

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    cover image ACM Other conferences
    PerMIS '09: Proceedings of the 9th Workshop on Performance Metrics for Intelligent Systems
    September 2009
    322 pages
    ISBN:9781605587479
    DOI:10.1145/1865909

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    • NIST: National Institute of Standards and Technology

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    Association for Computing Machinery

    New York, NY, United States

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    Published: 21 September 2009

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    Author Tags

    1. 3D imaging
    2. ground truth
    3. robotics
    4. urban search and rescue

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    • NIST
    PerMIS '09: Performance Metrics for Intelligent Systems
    September 21 - 23, 2009
    Maryland, Gaithersburg

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