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Zero-Shot 6D Pose Tracking for Sequential Robot Manipulation Using SAM and Online Segmentation models

Zero-Shot 6D Pose Tracking for Sequential Robot Manipulation...

引用

international conference on Control, automation and Systems ( ICCAS)

作者： Seungjae Won Hunjo Lee Gi-Hun Yang Robotics KITECH School University of Science and Technology Daejeon Korea Department of Human-Centered Robotics KITECH Ansan Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

There has been a lot of research on 6D pose estimation, from the object instance level to the category level to zero-shot 6D pose estimation, to make estimates for objects that the training model has not seen. Zero-shot 6D pose estimation estimates the pose by matching the object’s features or pose, which sometimes requires a mask as information about where the object is in the image. Recent research has shown that the Segment Anything Model can be used to obtain masks through simple prompts. However, when the image is not a single image, but a series of images, it can be computationally expensive to obtain the masks each time using SAM. Therefore, it is possible to obtain the masks through SAM and prompts, and feed them into an online segmentation model along with subsequent images to obtain masks for subsequent scenes. We want to apply 6D pose estimation over a sequence of RGB-D images and masks to obtain 6D pose and its variation for robot manipulation tasks.

关键词： Training Image segmentation automation Computational modeling Pose estimation Control systems Feeds Intelligent systems Robots

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Through the Rubble: Discovering the Invisible

Through the Rubble: Discovering the Invisible

引用

international conference on Control, automation, robotics and Vision (ICARCV)

作者： Yogesh Dasgaonkar Radhe Shyam Sharma Centre for Artificial Intelligence and Robotics at Indian Institute of technology Mandi India

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

To rescue human life trapped beneath the rubble (invisible to human or visual sensors) in the aftermath of an earthquake, we propose a human signature-based system that does three things efficiently - detects human life, its location, and the safe rescue path. This work has two novel contributions: a) The multi-robot rescue team equipped with our designed WiFi-based transmitter-receiver system to inspect the calamity site and detect human life without entering the rubble. b) The real-world earthquake rubble data is sparsely available and varies uncertainly across countries. We propose a system to collect human signatures unobtrusively pre-calamity, which helps in accurate human life detection post-calamity. We handle the data sparsity and uncertainty problem by proposing data decomposition and Variational Autoencoding (VAE) methods on the signature data. The results we achieve in a real-world calamity site set up with an Unmanned Ground Vehicle (UGV), drone, and robot manipulator system are promising as we can detect human life with 82% accuracy.

关键词： Visualization Accuracy Uncertainty Disasters Earthquakes Manipulators Sensor systems Land vehicles Sensors Wireless fidelity

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Communication Strategy for Efficient Guidance Providing Domain-structure Awareness, Performance Trade-offs, and Value of Future Observations

Communication Strategy for Efficient Guidance Providing Doma...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Lo, Shih-Yun Thomas, Andrea L. Univ Texas Austin Austin TX 78712 USA

ISBN: (纸本)9781728190778

Service robots are gaining capabilities to be deployed in public environments for human assistance. While robot actively providing guidance has shown great success in field study, the communication strategy (the strategy to decide whom to initiate the service for and when), and hence the performance evaluation, has been based on behavioral-based qualitative analysis. We attribute this to the challenge of accessing large-scale field data with condition control, and approach the problem with simulation from the agent-based modeling literature, to simulate pedestrian behavior in unfamiliar environments and estimate travel cost. We contribute a planning approach that uses the pedestrian behavior prediction from the model, to decide whom to initiate guidance and when km performance maximization. The results suggest that our approach is more efficient based on the measure of saved pedestrian travel time, compared to the behavioral-based strategy and a baseline that maximizes service counts.

关键词： Performance evaluation Costs Service robots Filtering conferences Estimation Predictive models

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Robotic Exploration through Semantic Topometric Mapping

Robotic Exploration through Semantic Topometric Mapping

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IEEE international conference on robotics and automation (ICRA)

作者： Scott Fredriksson Akshit Saradagi George Nikolakopoulos Department of Computer Science Robotics and AI Group Electrical and Space Engineering at Luleå University of Technology Sweden

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently explored parts of the environment into regions, such as intersections, pathways, dead-ends, and unexplored frontiers, which constitute the structural semantics of an environment. The proposed exploration strategy leverages metric information of the frontier, such as distance and angle to the frontier, similar to existing frameworks, with the key difference being the additional utilization of structural semantic information, such as properties of the intersections leading to frontiers. The algorithm for generating semantic topometric mapping utilized by the proposed method is lightweight, resulting in the method’s online execution being both rapid and computationally efficient. Moreover, the proposed framework can be applied to both structured and unstructured indoor and outdoor environments, which enhances the versatility of the proposed exploration algorithm. We validate our exploration strategy and demonstrate the utility of structural semantics in exploration in two complex indoor environments by utilizing a Turtlebot3 as the robotic agent. Compared to traditional frontier-based methods, our findings indicate that the proposed approach leads to faster exploration and requires less computation time.

关键词： Measurement Laser radar Navigation Semantics Skeleton Iron Indoor environment

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Review of research applications of wavelet transform in the field of image processing 6

Review of research applications of wavelet transform in the ...

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6th international conference on Mechatronics and Intelligent robotics, ICMIR 2022

作者： Feng, Yuhang Shao, Jianfei Shao, Jianlong Faculty of Information Engineering and Automation Kunming University of Science and Technology Yunnan Kunming650500 China

ISBN: (纸本)9781510656635

With the arrival of the information age, we can see images in every corner of our life, and images convey a lot of information to us. But not all images are clearly visible. And the image obtained after image transmission is often more blurred than the original image or the lack of information in the image. Therefore, the image we see may have been more or less disturbed, resulting in some damage to the image. This interference is mostly composed of noise, Such as AWGN and Poisson noise and so on. Aiming at the influence of noise on the image and preserving the integrity of image information to the greatest extent after eliminating noise, wavelet threshold denoising is one of the most important methods of image denoising. It is a relatively simple and less computational wavelet denoising algorithm [5]. This paper summarizes the related research of wavelet transform in the field of image denoising. Firstly, the general principle of wavelet threshold denoising is explained. Furthermore, three different wavelet threshold image denoising methods are described. The characteristics and problems of three kinds of wavelet threshold denoising are summarized. Finally, the prospect of wavelet transform is also given. © 2022 SPIE.

关键词： Wavelet transforms

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Effect of dynamic power regulation on microwave heating uniformity 6

Effect of dynamic power regulation on microwave heating unif...

引用

6th international conference on Mechatronics and Intelligent robotics, ICMIR 2022

作者： Yang, Biao Huang, Hongbin Gao, Hao Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming650500 China Yunnan Key Laboratory of Artificial Intelligence Kunming University of Science and Technology Kunming650500 China Key Laboratory of Unconventional Metallurgy of Ministry of Education Kunming University of Science and Technology Kunming650093 China

ISBN: (纸本)9781510656635

Uneven temperature distribution within the heated material is an important factor limiting the widespread use of microwave heating. This paper proposed a dynamic power regulation method to improve the uniformity of microwave heated materials. First, the microwave heating model was constructed by the finite element method (FEM), and the electromagnetic field model and temperature field model were solved to obtain the temperature distribution inside the heated material. Second, the effects of constant power heating methods and dynamic power heating were compared under the same conditions of total energy fed in. Finally, the simulation results showed that the dynamic power heating method was able to improve the uniformity in the horizontal and vertical sections by 69.1%-71.9% and 64.1%-71.8%, respectively, compared to the traditional constant power heating method. The energy conversion efficiency of the two heating methods was almost identical. These results showed that the dynamic power heating method can improve the uniformity of microwave heating and save energy. © 2022 SPIE.

关键词： Temperature distribution

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Stable, Sensor-less and Compliance-less Module Connection for Automated Construction System of a Modularized Rail Structure

Stable, Sensor-less and Compliance-less Module Connection fo...

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IEEE international conference on robotics and automation (ICRA)

作者： Yasuda, Mari Fukui, Rui Warisawa, Shin'ichi Univ Tokyo Dept Human & Engn Environm Studies Grad Sch Frontier Sci Kashiwa Chiba Japan

ISBN: (纸本)9781728190778

Unmanned robots have been proposed for the decommissioning of Fukushima Dai-ichi Nuclear Power Plant. To achieve efficient movement of robots in the high-radiation environment, we propose an "automated construction system of a modularized rail structure." In the high-radiation environment, the rail structure must be constructed by a remotely controlled robot using minimal sensors. In addition, a compliant mechanism that allows small misalignments is not feasible in the module connection task due to multiple load conditions. Therefore, this study aims to achieve stable, sensor-less, and compliance-less construction using a remotely controlled robot. To achieve this goal, a geometrical model of a connection mechanism is generated and used for contact analysis of the kinematic chain transition. An analysis of the relative angle and distance between the connection surfaces of the modules effectively illustrates the conditions of connection success and failure. Based on the analysis results, the design is modified to stabilize the connection task and employed to update the constructor robot. Thus, the stability of the module connection is improved, even under various load conditions.

关键词： Rails Analytical models Manufacturing processes Maintenance engineering Robot sensing systems Stability analysis Sensor systems

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Spectral Temporal Graph Neural Network for Trajectory Prediction

Spectral Temporal Graph Neural Network for Trajectory Predic...

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IEEE international conference on robotics and automation (ICRA)

作者： Cao, Defu Li, Jiachen Ma, Hengbo Tomizuka, Masayoshi Peking Univ Beijing Peoples R China Univ Calif Berkeley Berkeley CA 94720 USA

ISBN: (纸本)9781728190778

An effective understanding of the contextual environment and accurate motion forecasting of surrounding agents is crucial for the development of autonomous vehicles and social mobile robots. This task is challenging since the behavior of an autonomous agent is not only affected by its own intention, but also by the static environment and surrounding dynamically interacting agents. Previous works focused on utilizing the spatial and temporal information in time domain while not sufficiently taking advantage of the cues in frequency domain. To this end, we propose a Spectral Temporal Graph Neural Network (SpecTGNN), which can capture inter-agent correlations and temporal dependency simultaneously in frequency domain in addition to time domain. SpecTGNN operates on both an agent graph with dynamic state information and an environment graph with the features extracted from context images in two streams. The model integrates graph Fourier transform, spectral graph convolution and temporal gated convolution to encode history information and forecast future trajectories. Moreover, we incorporate a multi-head spatio-temporal attention mechanism to mitigate the effect of error propagation in a long time horizon. We demonstrate the performance of SpecTGNN on two public trajectory prediction benchmark datasets, which achieves state-of-the-art performance in terms of prediction accuracy.

关键词： Convolution Frequency-domain analysis Predictive models Benchmark testing Feature extraction Graph neural networks Trajectory

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Enhancing Thrust in Flapping Airfoils Through Wake Interactions with Oscillating Cylinder

Enhancing Thrust in Flapping Airfoils Through Wake Interacti...

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international conference on robotics and Artificial Intelligence (ICRAI)

作者： Amir Khan Imran Akhtar Muhammad Saif Ullah Khalid Department of Mechanical Engineering NUST College of Electrical & Mechanical Engineering Rawalpindi Pakistan Department of Mechanical and Mechatronics Engineering Lakehead University Thunder Bay ON Canada

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

Inspired by the natural motion of insects, fish, and other animals, flapping airfoils have gained significant importance due to their applications in fields such as ship propulsion, micro aerial vehicles, and autonomous underwater vehicles. Over the past two decades, extensive research has focused on understanding the dynamics of these airfoils, their thrust production capabilities, and methods to enhance this thrust in unsteady flows. This study investigates how the presence of a cylinder oscillating due to incoming flow affects the thrust performance of the flapping airfoil. The results indicate that the flapping airfoil generates increased thrust when placed in the wake of the oscillating cylinder compared to a scenario without the cylinder's wake. A direct relationship has been found between the strouhal number (St) of the flapping airfoil and its pitching amplitude, which significantly influences the airfoil's performance. This analysis highlights the potential for optimizing flapping airfoil efficiency through strategic selection of flapping parameters and the placement of an oscillating cylinder.

关键词： Vibrations Industries Insects Production Propulsion Fish Vehicle dynamics robotics and automation Marine vehicles Automotive components

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Multi-objective trajectory optimization algorithm for cooperative six-axis manipulator

Multi-objective trajectory optimization algorithm for cooper...

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IEEE international conference on Mechatronics, robotics and automation (ICMRA)

作者： Shujian Liu Wei Sun Yunfei Liu Jinglong Liu Jiyong Fan Huarui Liu Zhilong Luo Potevio shanghai R&D Center POTEVIO LOGISTICS TECHNOLOGY CO. LTD Shanghai China

ISBN: (数字)9798350352474

ISBN: (纸本)9798350352481

The integration of cooperative six-axis manipulator in industrial automation requires it to achieve efficient and accurate motion under the premise of ensuring safety. In order to meet this demand, this paper proposes a multi-objective trajectory optimization algorithm for the cooperative six-axis manipulator, which takes into account the motion time, energy consumption and path smoothness. By establishing a multi-objective optimization model, the improved particle swarm optimization algorithm is used to solve the problem, which ensures that the optimal planning of the trajectory is realized under the premise of satisfying the kinematics and dynamics constraints of the manipulator. An adaptive weight adjustment mechanism is introduced in the algorithm to dynamically balance the conflicts between different optimization objectives. The simulation results show that the proposed algorithm can significantly reduce the time for the manipulator to complete the task, reduce the energy consumption and improve the smoothness of the motion path. This study provides strong technical support for the efficient, energy-saving and safe operation of cooperative manipulators in complex industrial environments.

关键词： Energy consumption Trajectory planning Heuristic algorithms Simulation Optimization models Safety Planning Particle swarm optimization Manipulator dynamics Trajectory optimization

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