Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization
Mikołaj Łysakowski,Michał R. Nowicki,Russell Buchanan,Marco Camurri,Maurice Fallon,Krzysztof Walas,Mikołaj Łysakowski,Michał R. Nowicki,Russell Buchanan,Marco Camurri,Maurice Fallon,Krzysztof Walas
Haptic sensing has recently been used effectively for legged robot localization in extreme scenarios where cam-eras and LiDAR might fail, such as dusty mines and foggy sewers. However, existing haptic sensing mainly relies on supervised classification, with training and evaluation executed over explicit terrain classes. Defining classes is a significant limitation to real-world applications, where...
