Unsupervised Hump Detection for Mobile Robots Based On Kinematic Measurements and Deep-Learning Based Autoencoder

  • Oliver RettigEmail author
  • Silvan Müller
  • Marcus Strand
  • Darko Katic
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)


Small humps on the floor go beyond the detectable scope of laser scanners and are therefore not integrated into SLAM based maps of mobile robots. However, even such small irregularities can have a tremendous effect on the robot’s stability and the path quality. As a basis to develop anomaly detection algorithms, example kinematics data is collected for an overrun of a cable channel and a bulb plate. A recurrent neuronal network (RNN), based on the autoencoder principle, could be trained successfully with this data. The described RNN architecture looks promising to be used for realtime anomaly detection and also to quantify path quality.


Neural networks Anomaly detection Path planning Kinematic measurement Mobile robotics Deep learning 



The kinematic measurements were executed in the Gait- and Motionlab Heidelberg, University Clinics and were supported by the local laboratory team. The project is funded by the Federal Ministry for Economic Affairs and Energy of Germany.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Oliver Rettig
    • 1
    Email author
  • Silvan Müller
    • 1
  • Marcus Strand
    • 1
  • Darko Katic
    • 2
  1. 1.Department for Computer ScienceBaden-Wuerttemberg Cooperative State UniversityKarlsruheGermany
  2. 2.ArtiMinds Robotics GmbHKarlsruheGermany

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