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View-based SLAM using omnidirectional images

View-based SLAM using omnidirectional images

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9th international conference on informatics in control, automation and robotics, ICINCO 2012

作者： Valiente, D. Gil, A. Fernández, L. Reinoso, O. Spain

ISBN: (纸本)9789898565211

In this paper we focus on the problem of Simultaneous Localization and Mapping (SLAM) using visual information obtained from the environment. In particular, we propose the use of a single omnidirectional camera to carry out this task. Many approaches to visual SLAM concentrate on the estimation of the position of a set of 3D points, commonly denoted as visual landmarks which are extracted from images acquired at the environment. Thus the complexity of the map computation grows as the number of visual landmarks in the map increases. In this paper we propose a different representation of the environment that presents a series of advantages compared to the before mentioned approaches, such as a simplified computation of the map and a more compact representation of the environment. Concretely, the map is represented by a set of views captured from particular places in the environment. Each view is composed by its position and orientation in the map and a set of 2D interest points represented in the image reference frame. Thus, in each view the relative orientation of a set of visual landmarks is stored. During the map building stage, the robot captures an image and finds corresponding points between the current view and the views stored in the map. Assuming that a set of corresponding points is found, the transformation between both views can be computed, thus allowing us to build the map and estimate the pose of the robot. In the suggested framework, the problem of finding correspondences between views is troublesome. Consequently, with the aim of performing a more reliable approach, we propose a new method to find correspondences between two omnidirectional images when the relative error between them is modeled by a gaussian distribution which correlates the current error on the map. In order to validate the ideas presented here, we have carried out a series of experiment in a real environment using real data. Experiment results are presented to demonstrate the validi

关键词： robotics

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Robot-dog - Human interaction in urban search and rescue scenarios: Improving the efficiency of rescue teams in hazardous environments

Robot-dog - Human interaction in urban search and rescue sce...

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9th international conference on informatics in control, automation and robotics, ICINCO 2012

作者： Bosch, Anna Cufí, Xavier De La Rosa, Josep Ll. Figueras, Albert Institute of Informatics and Applications University of Girona Campus Montilivi EPS-4 17071 Girona Spain Department of Computer Engineering University of Girona Campus Montilivi EPS-4 17071 Girona Spain

ISBN: (纸本)9789898565211

After a natural urban disaster the interior of the rubble is often where the majority of victims are located. Mortality rates increases and peaks after 48 hours, so it is of major importance to have fast and effective search and rescue teams. Nowadays, the rescue and exploration teams normally use dogs as a companion to find victims. Trained dogs are very helpful in these situations since their high mobility, speed and detection capacity. However they need constant instructions and supervision, they can be in danger in some situations and they are not able to collect precise data from the environment. Instead of trying to build competing devices, the COMPANIONS project looks at cooperation between natural and artificial creatures and in particular robots and dogs. This is rather new ground for research, where all the dog shortcomings can be complemented with autonomous robots with cognitive abilities able to cooperate with dogs and humans in search and rescue environments. The aim of the project is to analyse how a team of agents (robots-dogshumans in this case) can cooperate and interact during search and rescue. Research will be towards a new rescue scenario composed that will allow: (i) to empower the best characteristics of all the involved agents and to minimize the worst ones;(ii) provide the fundamental tools for enabling these three agents to work in a cooperative and efficient way in rescue missions;and (iii) and to lengthen the human-dog link by allowing the exploration combining mobile robots and trained dogs with more distant and safer human intervention in the dangerous rescue scenes. The main challenge will be the dog-robot interaction: to give visual cognitive and reasoning abilities to the robot in order to let him autonomously interact and cooperate with the dog according its behaviour and the environment conditions;and to specifically train a dog to correctly accept and interact the robot (in charge of an expert dog training company).

关键词： Cognitive systems

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Advances in control of teleoperation system by state convergence

Advances in control of teleoperation system by state converg...

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16th World Multi-conference on Systemics, Cybernetics and informatics, WMSCI 2012

作者： Tafur, Julio C. García, Cecilia Aracil, Rafael Saltaren, Roque Sección Electricidad y Electrónica Centro de Tecnologías Avanzadas de Manufactura Pontificia Universidad Católica del Perú San Miguel Lima 32 Peru Center for Automation and Robotics UPM-CS1C Madrid Spain

ISBN: (纸本)9781936338627

In this work, we propose a control strategy by state convergence applied to bilateral control of a nonlinear teleoperator system with constant delay. The bilateral control of the teleoperator system considers the case when the human operator applies a constant force on the local manipulator and when the interaction of the remote manipulator with the environment is considered passive. The stability analysis is performed using Lyapunov-Krasovskii functional, it showed that using an control algorithm by state convergence for the case with constant delay, the nonlinear local and remote teleoperation system is asymptotically stable, also speeds converge to zero and position tracking is achieved. This work also presents the implementation of an experimental platform. The mechanical structure of the arm that is located in the remote side has been built and the electric servomechanism has been mounted to control their movement.

关键词： Remote control

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Regularity properties and deformation of wheeled robots trajectories

Regularity properties and deformation of wheeled robots traj...

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2012 IEEE international conference on robotics and automation, ICRA 2012

作者： Pham, Quang-Cuong Nakamura, Yoshihiko Department of Mechano-Informatics University of Tokyo Japan

ISBN: (纸本)9781467314039

Our contribution in this article is twofold. First, we identify the regularity properties of the trajectories of planar wheeled mobile robots. By regularity properties of a trajectory we mean whether this trajectory, or a function computed from it, belongs to a certain class Cn (the class of functions that are differentiable n times with a continuous nth derivative). We show that, under some generic assumptions about the rotation and steering velocities of the wheels, any non-degenerate wheeled robot belongs to one of the two following classes. Class I comprises those robots whose admissible trajectories in the plane are C1 and piecewise C 2;and class II comprises those robots whose admissible trajectories are C1, piecewise C2 and, in addition, curvature-continuous. Second, based on this characterization, we derive new feedback control and gap-filling algorithms for wheeled mobile robots using the recently-developed affine trajectory deformation framework. © 2012 IEEE.

关键词： Trajectories

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Interactive control parameter investigation of modular robotic simulation environment based on Wiimote-HCI's multi sensor fusion

Interactive control parameter investigation of modular robot...

引用

2012 IEEE international conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2012

作者： Noeske, Martin Krupke, Dennis Hendrich, Norman Zhang, Jianwei Zhang, Houxiang Department of Informatics University of Hamburg Germany Faculty of Maritime Technology and Operations Aalesund University College Norway

ISBN: (纸本)9781467325110

This paper describes a method to integrate a hardware device into a modular robot control and simulation software and introduces sensor fusion to investigate the current set of control parameters. As a highlevel remote unit for modulation of control algorithms the Wiimote and the usage of its sensors will be introduced. Sensor fusion of the Wiimote's sensors allows to create a human-robot interaction modul to control a simulation environment as well as real robots. Finally its benefit for evaluation of locomotion control algorithms will be pointed out. © 2012 IEEE.

关键词： Human robot interaction

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Text independent speaker gender recognition using lip movement

Text independent speaker gender recognition using lip moveme...

引用

2012 12th international conference on control, automation, robotics and Vision, ICARCV 2012

作者： Ichino, Masatsugu Yamazaki, Yasushi Jian-Gang, Wang Yun, Yau Wei Graduate School of Informatics and Engineering University of Electro-Communications 1-5-1 Chofugaoka Chofu-shi Tokyo 182-8585 Japan Faculty of Environmental Engineering University of Kitakyushu 1-1 Hibikino Wakamatsu-ku Kitakyushu Fukuoka 808-0135 Japan Institute for Inforcomm Research 1 Fusionopolis Way #21-01 Connexis Singapore 138632 Singapore

ISBN: (纸本)9781467318716

The conventional mouth gender recognition is based on a static image and ignore the dynamic information. In this paper, we propose a lip movement gender recognition method to improve the accuracy by exploring the dynamic information while a user is speaking. In order to overcome the difficulty caused by the nonlinear distribution of the lip images, Gausian Mixture Models (GMM) is adopted to represent the lip images. A similarity measure is defined to measure the difference between the successive frames. Gender recognition, as a soft biometric trait, can provide useful information for improving the performance of the speaker recognition systems. The accuracy of voice-based speaker gender recognition is high if the condition of the environment is good. But it will be drastically decreased if the test is conduted in a noisy environment. In this paper, we showed that lip movement, considered as a sequence of mouth images, can provide additional information than mouth alone for recognizing gender Experimental result obtained showed the effectiveness of the proposed method which is comparable to using just the voice information. © 2012 IEEE.

关键词： Character recognition

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Improving viewpoint invariance of image feature extraction methods using intensity and range images

Improving viewpoint invariance of image feature extraction m...

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2012 13th international Carpathian control conference, ICCC 2012

作者： Kovács, V. Tevesz, G. Department of Automation and Applied Informatics Budapest University of Technology Budapest Hungary

ISBN: (纸本)9781457718687

The most common image feature extraction algorithms such as SIFT (Scale Invariant Feature Transform) and SURF (Speeded Up Robust Feature) have been proven to be invariant to changes in rotation, scale and with restrictions to illumination and viewpoint changes. These algorithms generate descriptor vectors around keypoints in 2D images. Close descriptors suggest similar image patch. In case of mobile robotics applications it is important to achieve good viewpoint invariance and stability to detect landmarks and objects with high reliability. Improving viewpoint invariance for image feature detection increases the efficiency of SLAM algorithms. In this paper we present and evaluate a method to use additional data provided by range image sensors to supplement traditional feature extraction algorithms to improve viewpoint invariance. We present the method and results of computer simulation and also real world examples comparing the SURF (OpenSURF) with and without the improvement. An active structured light based range and intensity image sensor was used to acquire real world test images. © 2012 IEEE.

关键词： Object recognition

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ICINCO 2011 - Proceedings of the 8th international conference on informatics in control, automation and robotics

ICINCO 2011 - Proceedings of the 8th International Conferenc...

引用

8th international conference on informatics in control, automation and robotics, ICINCO 2011

ISBN: (纸本)9789898425744

The proceedings contain 150 papers. The topics discussed include: an interpolation approach for constrained output feedback;target-aware anomaly detection and diagnosis;optimization learning method for discrete process control;inner and outer capture basin approximation with support vector machines;a study for manufacturing cell formation approach considering setup;cost-optimal strong planning in non-deterministic domains;interactive sketch design recognition system using evolutionary techniques;generation of process variants;intelligent fault detection, identification and control of satellite formation flying;computational experience with structure-preserving Hamiltonian solvers in optimal control;personal advanced traveler assistant;building visual maps with a single omnidirectional camera;visual servoing of a multi-robotic system for manipulation tasks;and performance verification of the head/eye integrated tracker.

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Design and analysis of a network control structure with a switched PD compensator

Design and analysis of a network control structure with a sw...

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Octavian Stefan Alexandru Codrean Toma-Leonida Dragomir Department of Automation and Applied Informatics Polytechnic University of Timisoara Timisoara Romania

The current paper proposes a new network control structure based on a nonlinear network transmission model recently proposed by the authors, a switched PD time delay compensator and a state feedback controller. The design methodology described for the control structure consists in a coupling between analytical tuning methods and numerical optimization methods. The stability is assessed in the framework of switched linear systems through a switched quadratic Lyapunov function. Finally, the results are validated on a numerical example.

关键词： Switches Stability analysis State feedback Delay effects Process control Delay

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Modified shared circuits model for manufacturing processes control: From psychology and neuroscience to a computational solution

Modified shared circuits model for manufacturing processes c...

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2012 international conference on Brain informatics, BI 2012

作者： Guerra, Rodolfo E. Haber Boza, Alfonso Sánchez Gajate, Agustín Del Toro, Raúl M. Escuela Politécnica Superior UAM Madrid Spain Center for Automation and Robotics UPM-CSIC Arganda del Rey Spain

ISBN: (纸本)9783642351389

There are many complex processes waiting for artificial cognitive solutions able to deal with new, complex, unknown, or arbitrary tasks efficiently. In this work, the modified shared circuits model (MSCM) for artificial cognitive control is presented. The main goal is to surpass the limitations of the shared circuits models and to formalize an integrated computational solution on the basis of a neuroscientific and psychological approach. Two novelties of the proposed systems are a commutation or switching mechanism between modules in order to reproduce efficiently the imitation, deliberation and mindreading characteristics of human sociocognitive skills. Another contribution is the introduction of a self-optimization strategy based on cross entropy in order to fulfil the control goals. The closed-loop behaviour of the drilling force demonstrates that the MSCM approach is an alternative and feasible option in the field of artificial cognitive control to deal with processes complexity and uncertainty. © 2012 Springer-Verlag.

关键词： Neurophysiology

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