Page 212 - Introduction to AI Robotics

Common Sensing Techniques for

6 Reactive Robots

Chapter Objectives:

Describe the difference between active and passive sensors, and give exam-
ples of each.

Define each of the following terms in one or two sentences: proprioception,
exterception, exproprioception, proximity sensor, logical sensor, false positive,
false negative, hue, saturation, image, pixel, image function, computer vision.

List the metrics for rating individual sensors and a sensor suite, and apply
these metrics to a particular application.

Describe the problems of specular reflection, cross-talk, and foreshortening
with an ultrasonic transducer, and if given a 2D line drawing of surfaces,
illustrate where each of these problems would likely occur.

Describe the types of behavioral sensor fusion and be able to apply to a real-
world problem.

Write perceptual schemas from any logically equivalent range sensor to
produce a polar plot percept for obstacle avoidance behavior.

If given a small interleaved RGB image and a range of color values for a
region, be able to 1) threshold the image on color and 2) construct a color
histogram.

Write computer vision code to enable a robot to imprint on and track a
color.