Abstract

In this paper, we propose an autonomous exploration and tapping mechanism-based material mapping system for a mobile robot in unknown environments. The proposed system integrates SLAM modules and sound-based material classification to enable a mobile robot to explore an unknown environment autonomously and at the same time identify the various objects and materials in the environment in an efficient manner, creating a material map which localizes the various materials in the environment over the occupancy grid. A tapping mechanism and tapping audio signal processing based on machine learning techniques are exploited for a robot to identify the objects and materials. We demonstrate the proposed system through experiments using a mobile robot platform installed with Velodyne LiDAR, a linear solenoid, and microphones in an exploration-like scenario with various materials. Experiment results demonstrate that the proposed system can create useful material maps in unknown environments.

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BibTeX (Download)

@conference{Kannan2020,
title = {Material Mapping in Unknown Environments using Tapping Sound},
author = {Shyam Sundar Kannan and Wonse Jo and Ramviyas Parasuramanoiuytrewq and Byung-Cheol Min},
year  = {2020},
date = {2020-10-29},
booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)},
abstract = {In this paper, we propose an autonomous exploration and tapping mechanism-based material mapping system for a mobile robot in unknown environments. The proposed system integrates SLAM modules and sound-based material classification to enable a mobile robot to explore an unknown environment autonomously and at the same time identify the various objects and materials in the environment in an efficient manner, creating a material map which localizes the various materials in the environment over the occupancy grid. A tapping mechanism and tapping audio signal processing based on machine learning techniques are exploited for a robot to identify the objects and materials. We demonstrate the proposed system through experiments using a mobile robot platform installed with Velodyne LiDAR, a linear solenoid, and microphones in an exploration-like scenario with various materials. Experiment results demonstrate that the proposed system can create useful material maps in unknown environments.},
keywords = {mapping, perception, robotics},
pubstate = {published},
tppubtype = {conference}
}