Disabling robot sensors
Example implementations may relate to methods and systems for disturbing or deceiving sensors of robotic devices. Accordingly, a computing system may detect that a robotic device has entered a particular physical region. Responsively, the computing system may then determine at least one type of sensor that is associated with the robotic device and is used to detect reflected illumination that is reflected from an object. Based on the determined at least one type of sensor, the computing system may then select (i) at least one particular type of disturbing illumination and (ii) a target location within the particular physical region. Upon the selection, the computing system may direct at least one light source to emit the selected at least one particular type of disturbing illumination towards the selected target location so as to disturb the reflected illumination detectable by the robotic device using the at least one type of sensor.
1. A method comprising:
receiving, at a computing system, a light emission detection from a light sensor system located in a physical space, the light emission detection indicating:
a presence of a robot in the physical space; and
at least one characteristic of emitted light from the robot into the physical space;
determining, by the computing system, a type of a sensor system of the robot based on the at least one characteristic of the emitted light; and
commanding, by the computing system, a light source in the physical space to emit a light disturbance into the physical space based on the determined type of the sensor system of the robot, the light disturbance configured to disrupt sensor system of the robot.
2. The method of claim 1 , wherein the at least one characteristic of the emitted light comprises one or more of: (i) an intensity of the emitted light, (ii) a frequency of the emitted light, (iii) a phase of the emitted light, (iv) a direction of travel of the emitted light, (v) a duration of the emitted light, and (vi) a pattern of the emitted light.
3. The method of claim 1 , further comprising:
determining, by the computing system, a target change in operation of the robot;
determining, by the computing system, illumination characteristics of the light disturbance causing the determined target change in operation of the robot; and
commanding, by the computing system, the light source in the physical space to emit an altered light disturbance into the physical space based on the determined illumination characteristics causing the determined target change in the operation of the robot.
4. The method of claim 1 , wherein the sensor system of the robot comprises one or more of: (i) a light detection and ranging (LIDAR) device; (ii) a time-of-flight camera; (iii) a structured light scanner; and (iv) a stereo camera.
5. The method of claim 1 , wherein the light source comprises one or more of: (i) a digital light processing (DLP) projector; (ii) a light emitting diode (LED); and (iii) a light bulb.
6. The method of claim 1 , wherein the emitted light disturbance comprises one or more of: (i) spatial variation, (ii) temporal modulation, and (iii) light flooding.
7. The method of claim 1 , further comprising:
when the determined type of the sensor system of the robot comprises a structured light scanner, selecting, by the computing system, the light disturbance as one or more of (i) a spatial variation and (ii) light flooding;
when the determined type of the sensor system of the robot comprises a light detection and ranging (LIDAR) device, selecting, by the computing system, the light disturbance as one or more of (i) temporal modulation and (ii) light flooding;
when the determined type of the sensor system of the robot comprises a time-of-flight camera, selecting, by the computing system, the light disturbance as one or more of (i) temporal modulation and (ii) light flooding; and
when the determined type of the sensor system of the robot comprises a stereo camera, selecting, by the computing system, the light disturbance as light flooding.
8. A system comprising:
data processing hardware; and
memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:
receiving a light emission detection from a light sensor system located in a physical space, the light emission detection indicating:
a presence of a robot in the physical space; and
at least one characteristic of emitted light from the robot into the physical space;
determining a type of a sensor system of the robot based on the at least one characteristic of the emitted light; and
commanding a light source in the physical space to emit a light disturbance into the physical space based on the determined type of the sensor system of the robot, the light disturbance configured to disrupt sensor system of the robot.
9. The system of claim 8 , wherein the at least one characteristic of the emitted light comprises one or more of: (i) an intensity of the emitted light, (ii) a frequency of the emitted light, (iii) a phase of the emitted light, (iv) a direction of travel of the emitted light, (v) a duration of the emitted light, and (vi) a pattern of the emitted light.
10. The system of claim 8 , wherein the operations further comprise:
determining a target change in operation of the robot;
determining illumination characteristics of the light disturbance causing the determined target change in operation of the robot; and
commanding the light source in the physical space to emit an altered light disturbance into the physical space based on the determined illumination characteristics causing the determined target change in the operation of the robot.
11. The system of claim 8 , wherein the sensor system of the robot comprises one or more of: (i) a light detection and ranging (LIDAR) device; (ii) a time-of-flight camera; (iii) a structured light scanner; and (iv) a stereo camera.
12. The system of claim 8 , wherein the light source comprises one or more of: (i) a digital light processing (DLP) projector; (ii) a light emitting diode (LED); and (iii) a light bulb.
13. The system of claim 8 , wherein the emitted light disturbance comprises one or more of: (i) spatial variation, (ii) temporal modulation, and (iii) light flooding.
14. The system of claim 8 , wherein the operations further comprise:
when the determined type of the sensor system of the robot comprises a structured light scanner, selecting the light disturbance as one or more of (i) a spatial variation and (ii) light flooding;
when the determined type of the sensor system of the robot comprises a light detection and ranging (LIDAR) device, selecting the light disturbance as one or more of (i) temporal modulation and (ii) light flooding;
when the determined type of the sensor system of the robot comprises a time-of-flight camera, selecting the light disturbance as one or more of (i) temporal modulation and (ii) light flooding; and
when the determined type of the sensor system of the robot comprises a stereo camera, selecting the light disturbance as light flooding.
15. The method of claim 1 , further comprising:
identifying, by the computing system, the robot based on the at least one characteristic of the emitted light from the robot into the physical space; and
determining, by the computing system, the type of the sensor system of the robot by referring to mapping data that maps identifications of robots to certain sensor systems.
16. The system of claim 8 , wherein the operations further comprise:
identifying the robot based on the at least one characteristic of the emitted light from the robot into the physical space; and
determining the type of the sensor system of the robot by referring to mapping data that maps identifications of robots to certain sensor systems.
17. The method of claim 1 , wherein the light emission detection comprises a detection of one or more of the emitted light from the robot into the physical space and a reflected illumination of the emitted light from the robot into the physical space.
18. The system of claim 8 , wherein the light emission detection comprises a detection of one or more of the emitted light from the robot into the physical space and a reflected illumination of the emitted light from the robot into the physical space.
19. The method of claim 1 , further comprising determining, by the computing system, a location of the robot within the physical space based on the light emission detection, wherein the light disturbance is based on the location of the robot.
20. The system of claim 8 , wherein the operations further comprise determining a location of the robot within the physical space based on the light emission detection, wherein the light disturbance is based on the location of the robot.