Olfactory Inertial Odometry: Sensor Calibration and Drift Compensation
By: Kordel K. France , Ovidiu Daescu , Anirban Paul and more
Potential Business Impact:
Helps robots find smells accurately, like in surgery.
Visual inertial odometry (VIO) is a process for fusing visual and kinematic data to understand a machine's state in a navigation task. Olfactory inertial odometry (OIO) is an analog to VIO that fuses signals from gas sensors with inertial data to help a robot navigate by scent. Gas dynamics and environmental factors introduce disturbances into olfactory navigation tasks that can make OIO difficult to facilitate. With our work here, we define a process for calibrating a robot for OIO that generalizes to several olfaction sensor types. Our focus is specifically on calibrating OIO for centimeter-level accuracy in localizing an odor source on a slow-moving robot platform to demonstrate use cases in robotic surgery and touchless security screening. We demonstrate our process for OIO calibration on a real robotic arm and show how this calibration improves performance over a cold-start olfactory navigation task.
Similar Papers
Olfactory Inertial Odometry: Methodology for Effective Robot Navigation by Scent
Robotics
Robots smell their way around like animals.
Efficient and Accurate Downfacing Visual Inertial Odometry
CV and Pattern Recognition
Lets tiny drones see where they are going.
Dual-Agent Reinforcement Learning for Adaptive and Cost-Aware Visual-Inertial Odometry
Robotics
Lets robots and AR move without getting lost.