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检索条件"丛书名=Springer Tracts in Advanced Robotics"

共 918 条记录，以下是101-110 订阅

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From ImageNet to Mining: Adapting Visual Object Detection with Minimal Supervision 10th

From ImageNet to Mining: Adapting Visual Object Detection wi...

引用

10th International Conference on Field and Service robotics (FSR)

作者： Bewley, Alex Upcroft, Ben Queensland Univ Technol Sch Elect Engn & Comp Sci Brisbane Qld 4001 Australia Queensland Univ Technol Sch Elect Engn & Comp Sci ARC Ctr Excellence Robot Vis Brisbane Qld 4001 Australia

ISBN: (纸本)9783319277028;9783319277004

This paper presents visual detection and classification of light vehicles and personnel on a mine site. We capitalise on the rapid advances of ConvNet based object recognition but highlight that a naive black box approach results in a significant number of false positives. In particular, the lack of domain specific training data and the unique landscape in a mine site causes a high rate of errors. We exploit the abundance of background-only images to train a k-means classifier to complement the ConvNet. Furthermore, localisation of objects of interest and a reduction in computation is enabled through region proposals. Our system is tested on over 10 km of real mine site data and we were able to detect both light vehicles and personnel. We show that the introduction of our background model can reduce the false positive rate by an order of magnitude.

关键词： Object detection

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Multi-agent Visibility-Based Target Tracking Game 1

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12th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Zhang, Mengzhe Bhattacharya, Sourabh Iowa State Univ Ames IA USA

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

In this paper, we address the problem of visibility-based target tracking for a team of mobile observers trying to track a team of mobile targets. Based on the results of previous work, the notion of pursuit fields around a single corner is introduced. We use the pursuit fields to generate navigation strategies for a single observer to track a single target in general environments. In order to tackle the case when more than one observer or target is present in the environment, we propose a two level hierarchical approach. At the upper level, the team of observers use a ranking and aggregation technique for allocating each target to an observer. At the lower level, each observer computes its navigation strategy based on the results of the single observer-single target problem, thereby, decomposing a large multi-agent problem into several 2-agent problems. Finally, we present a scalable algorithm that can accommodate an arbitrary number of observers and targets. The performance of this algorithm is evaluated based on simulation and implementation.

关键词： Multi-agent Target tracking Pursuit-evasion game

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System Design of a Tethered Robotic Explorer (TReX) for 3D Mapping of Steep Terrain and Harsh Environments 10th

System Design of a Tethered Robotic Explorer (TReX) for 3D M...

引用

10th International Conference on Field and Service robotics (FSR)

作者： McGarey, Patrick Pomerleau, Francois Barfoot, Timothy D. Univ Toronto Inst Aerosp Studies Toronto ON Canada

ISBN: (纸本)9783319277028;9783319277004

The use of a tether in mobile robotics provides a method to safely explore steep terrain and harsh environments considered too dangerous for humans and beyond the capability of standard ground rovers. However, there are significant challenges yet to be addressed concerning mobility while under tension, autonomous tether management, and the methods by which an environment is assessed. As an incremental step towards solving these problems, this paper outlines the design and testing of a center-pivoting tether management payload enabling a four-wheeled rover to access and map steep terrain. The chosen design permits a tether to attach and rotate passively near the rover's center-of-mass in the direction of applied tension. Prior design approaches in tethered climbing robotics are presented for comparison. Tests of our integrated payload and rover, Tethered Robotic Explorer (TReX), show full rotational freedom while under tension on steep terrain, and basic autonomy during flat-ground tether management. Extensions for steep-terrain tether management are also discussed. Lastly, a planar lidar fixed to a tether spool is used to demonstrate a 3D mapping capability during a tethered traverse. Using visual odometry to construct local point-cloud maps over short distances, a globally-aligned 3D map is reconstructed using a variant of the Iterative Closest Point (ICP) algorithm.

关键词： Landforms

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Wrong Today, Right Tomorrow: Experience-Based Classification for Robot Perception 10th

Wrong Today, Right Tomorrow: Experience-Based Classification...

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10th International Conference on Field and Service robotics (FSR)

作者： Hawke, Jeffrey Gurau, Corina Tong, Chi Hay Posner, Ingmar Univ Oxford Oxford OX1 3PJ England

ISBN: (纸本)9783319277028;9783319277004

This paper is about building robots that get better through use in their particular environment, improving their perceptual abilities. We approach this from a life long learning perspective: we want the robot's ability to detect objects in its specific operating environment to evolve and improve over time. Our idea, which we call Experience-Based Classification (EBC), builds on the well established practice of performing hard negative mining to train object detectors. Rather than cease mining for data once a detector is trained, EBC continuously seeks to learn from mistakes made while processing data observed during the robot's operation. This process is entirely self-supervised, facilitated by spatial heuristics and the fact that we have additional scene data at our disposal in mobile robotics. In the context of autonomous driving we demonstrate considerable object detector improvement over time using 40 Km of data gathered from different driving routes at different times of year.

关键词： Robots

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Constructive Developmental Science: A Trans-Disciplinary Approach Toward the Fundamentals of Human Cognitive Development and Its Disorders, Centered Around Fetus Simulation 16th

Constructive Developmental Science: A Trans-Disciplinary App...

引用

16th International Symposium on robotics Research (ISSR)

作者： Kuniyoshi, Yasuo Univ Tokyo Bunkyo Ku 7-3-1 Hongo Tokyo 1138656 Japan

ISBN: (纸本)9783319288727;9783319288703

How does human mind develop? What causes developmental disorders? Recent studies suggest the importance of the fetal period in human development. However, study of human fetuses is strongly constrained by technical and ethical difficulties. This project aims at understanding the principles of human development by analyzing and modeling it from the fetal period. Integrating robotics, medicine, psychology, neuroscience, and Tohjisha-kenkyu (first-person view research of developmental disorders), we establish a new trans-disciplinary research field called Constructive Developmental Science. Its contributions include a new understanding of human development and its disorders, comprehensive diagnostic methodologies, and truly appropriate assistive technology.

关键词： Diagnosis

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Into Darkness: Visual Navigation Based on a Lidar-Intensity-Image Pipeline 16th

Into Darkness: Visual Navigation Based on a Lidar-Intensity-...

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16th International Symposium on robotics Research (ISSR)

作者： Barfoot, Timothy D. McManus, Colin Anderson, Sean Dong, Hang Beerepoot, Erik Tong, Chi Hay Furgale, Paul Gammell, Jonathan D. Enright, John Univ Toronto Inst Aerosp Studies 4925 Dufferin St Toronto ON Canada

ISBN: (纸本)9783319288727;9783319288703

Visual navigation of mobile robots has become a core capability that enables many interesting applications from planetary exploration to self-driving cars. While systems built on passive cameras have been shown to be robust in well-lit scenes, they cannot handle the range of conditions associated with a full diurnal cycle. Lidar, which is fairly invariant to ambient lighting conditions, offers one possible remedy to this problem. In this paper, we describe a visual navigation pipeline that exploits lidar's ability to measure both range and intensity (a.k.a., reflectance) information. In particular, we use lidar intensity images (from a scanning-laser rangefinder) to carry out tasks such as visual odometry (VO) and visual teach and repeat (VT&R) in realtime, from full-light to full-dark conditions. This lighting invariance comes at the price of coping with motion distortion, owing to the scanning-while-moving nature of laser-based imagers. We present our results and lessons learned from the last few years of research in this area.

关键词： Optical radar

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A Spatially and Temporally Scalable Approach for Long-Term Lakeshore Monitoring 10th

A Spatially and Temporally Scalable Approach for Long-Term L...

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10th International Conference on Field and Service robotics (FSR)

作者： Griffith, Shane Pradalier, Cedric Georgia Inst Technol Atlanta GA 30332 USA GeorgiaTech Lorraine UMI GT CNRS 2958 Atlanta GA USA

ISBN: (纸本)9783319277028;9783319277004

This paper provides an image processing framework to assist in the inspection and, more generally, the data association of a natural environment, which we demonstrate in a long-term lakeshore monitoring task with an autonomous surface vessel. Our domain consists of 55 surveys of a 1 km lakeshore collected over a year and a half. Our previous work introduced a framework in which images of the same scene from different surveys are aligned using visual SLAM and SIFT Flow. This paper: (1) minimizes the number of expensive image alignments between two surveys using a covering set of poses, rather than all the poses in a sequence;(2) improves alignment quality using a local search around each pose and an alignment bias derived from the 3D information from visual SLAM;and (3) provides exhaustive results of image alignment quality. Our improved framework finds significantly more precise alignments despite performing image registration over an order of magnitude fewer times. We show changes a human spotted between surveys that would have otherwise gone unnoticed. We also show cases where our approach was robust to 'extreme' variation in appearance.

关键词： Surveys

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DisCoF: Cooperative Pathfinding in Distributed Systems with Limited Sensing and Communication Range 1

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12th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Zhang, Yu Kim, Kangjin Fainekos, Georgios Arizona State Univ Sch Comp Informat & Decis Syst Engn Tempe AZ USA

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

Cooperative pathfinding is often addressed in one of two ways in the literature. In fully coupled approaches, robots are considered together and the plans for all robots are constructed simultaneously. In decoupled approaches, the plans are constructed only for a subset of robots at a time. While decoupled approaches can be much faster than fully coupled approaches, they are often suboptimal and incomplete. Although there exist a few decoupled approaches that achieve completeness, global information (which makes global coordination possible) is assumed. Global information may not be accessible in distributed robotic systems. In this paper, we provide a window-based approach to cooperative pathfinding with limited sensing and communication range in distributed systems (called DisCoF). In DisCoF, robots are assumed to be fully decoupled initially, and may gradually increase the level of coupling in an online and distributed fashion. In some cases, e.g., when global information is needed to solve the problem instance, DisCoF would eventually couple all robots together. DisCoF represents an inherently online approach since robots may only be aware of a subset of robots in the environment at any given point of time. Hence, they do not have enough information to determine non-conflicting plans with all the other robots. Completeness analysis of DisCoF is provided.

关键词： Distributed robot systems Cooperative pathfinding

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robotics Research 1st ed. 2016

引用

丛书名： springer tracts in advanced robotics

2016年

作者： Masayuki Inaba Peter Corke

ISBN: (数字)9783319288727

ISBN: (纸本)9783319288703

This volume presents a collection of papers presented at the 16th International Symposium of Robotic Research (ISRR). ISRR is the biennial meeting of the International Foundation of Robotic Research (IFRR) and its 16th edition took place in Singapore over the period 16th to 19th December 2013. The ISRR is the longest running series of robotics research meetings and dates back to the very earliest days of robotics as a research discipline. This 16th ISRR meeting was held in the 30th anniversary year of the very first meeting which took place in Bretton Woods (New Hampshire, USA) in August 1983., and represents thirty years at the forefront of ideas in robotics research. As for the previous symposia, ISRR 2013 followed up on the successful concept of a mixture of invited contributions and open submissions. 16 of the contributions were invited contributions from outstanding researchers selected by the IFRR officers and the program committee, and the other contributions were chosen among the open submissions after peer review. This selection process resulted in a truly excellent technical program which featured some of the very best of robotic research. These papers were presented in a single-track interactive format which enables real conversations between speakers and the audience. The symposium contributions contained in this volume report on a variety of new robotics research results covering a broad spectrum organized into traditional ISRR categories: control; design; intelligence and learning; manipulation; perception; and planning.

关键词： robotics

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Collective Construction of Dynamic Equilibrium Structure Through Interaction of Simple Robots with Semi-active Blocks 1

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12th International Symposium on Distributed Autonomous Robotic Systems (DARS)

作者： Sugawara, Ken Doi, Yohei Tohoku Gakuin Univ Sendai Miyagi 980 Japan

ISBN: (数字)9784431558798

ISBN: (纸本)9784431558798;9784431558774

This paper proposes a collective construction method through interaction between simple robots and intelligent blocks that has a rule set and functions to communicate with neighboring blocks. In our proposed method, the structure is formed by growing chain of blocks. The growth direction is determined by the rule set and a counter value passed between the blocks. The robots load or unload the block based on a simple algorithm and a local signal from the blocks. Because of the simplicity of each robot's behavior, the structure is locally unstable: the blocks can be attached or detached randomly from the structure even if they have already formed a part of the structure. The structure is considered a dynamic equilibrium structure that is locally unstable but globally stable. In this paper, we first explain the mechanism of our proposal and show some fundamental characteristics obtained by computer simulation. Then, we show the adaptability of the system by introducing simple sensing dynamics for an external stimulus.

关键词： Collective construction Dynamic equilibrium Swarm robots Semi-active blocks

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