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Omnidirectional Depth Computation from a Single Image

Omnidirectional Depth Computation from a Single Image

引用

IEEE international conference on robotics and automation (ICRA)

作者： R. Orghidan E.M. Mouaddib J. Salvi Institute of Informatics and Applications Computer Vision and Robotics Group University of Girona Catalonia Spain Centre de Robotique Université de Picardie Jules-Verne Amiens France

Omnidirectional cameras offer a much wider field of view than the perspective ones and alleviate the problems due to occlusions. However, both types of cameras suffer from the lack of depth perception. A practical method for obtaining depth in computer vision is to project a known structured light pattern on the scene avoiding the problems and costs involved by stereo vision. This paper is focused on the idea of combining omnidirectional vision and structured light with the aim to provide 3D information about the scene. The resulting sensor is formed by a single catadioptric camera and an omnidirectional light projector. It is also discussed how this sensor can be used in robot navigation applications.

关键词： Cameras Robot vision systems Layout Navigation Mirrors Image reconstruction Orbital robotics Computer vision Optical sensors Lenses

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Automatic Generation of High-level Contact State Space between Planar Curved Objects

Automatic Generation of High-level Contact State Space betwe...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Peng Tang Jing Xiao IMI Lab Department of Computer Science University of North Carolina Charlotte Charlotte NC USA

Information of high-level, topological contact states is useful and even necessary for a wide range of applications, including many robotics applications. While there is considerable research related to topological contact states between two polyhedral objects, little is studied about how to characterize, represent, and automatically generate topological contact states between curved objects. In this paper we extend the representation of topological contact states between polyhedral objects to general planar curved objects in terms of contacting curve elements, obtained from curvature monotonic segmentation [6]. We further introduce an approach to generate automatically graphs of such contact states between two planar curved objects, which represent not only valid contact states but also adjacency relations among those contact states. Implementation results of the related algorithms demonstrate the effectiveness of our approach. The approach can be naturally extended to generation of contact states between 3-D curved objects.

关键词： State-space methods Computer science Application software Character generation robotics and automation Robots Haptic interfaces

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A Visual Front-end for Simultaneous Localization and Mapping

A Visual Front-end for Simultaneous Localization and Mapping

引用

IEEE international conference on robotics and automation (ICRA)

作者： L. Goncalves E. di Bernardo D. Benson M. Svedman J. Ostrowski N. Karlsson P. Pirjanian Evolution Robotics Inc. Pasadena CA USA

We describe a method of generating and utilizing visual landmarks that is well suited for SLAM applications. The landmarks created are highly distinctive and reliably detected, virtually eliminating the data association problem present in other landmark schemes. Upon subsequent detections of a landmark, a 3-D pose can be estimated. The scheme requires a single camera.

关键词： Simultaneous localization and mapping Image recognition Object recognition Robot vision systems Cameras Robustness Robot sensing systems Mobile robots Sonar Power generation

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Features Selection for Sensor Fusion in a Demining Robot

Features Selection for Sensor Fusion in a Demining Robot

引用

IEEE international conference on robotics and automation (ICRA)

作者： S. Larionova L. Marques A.T. de Almeida Institute of Systems and Robotics University of Coimbra Coimbra Portugal

humanitarian demining is a dangerous and time consuming task which leads to more victims among deminers. Thus large efforts are being made worldwide in order to develop autonomous robots able to detect landmines without human participation. Any single sensor currently available for antipersonnel landmine detection can not provide the required detection/false alarm ratio, thus a combination of several sensors together with sensor fusion techniques is used. One of the main problems in the practical implementation of sensor fusion for a demining robot is the lack of experimental data for training the algorithms. Formally using a small training and evaluation set does not allow to take conclusions about the results of sensor fusion. This work presents a sensor fusion strategy which helps to overcome the problem of having few experimental data by creating an unified landmine signatures database. Using this database for sensor fusion in general and for features selection in particular is described. In addition to commonly used statistical features several new features are proposed which reflect the shape and the nature of the object. Moreover the designed ROIs extraction algorithm provides additional information allowing to improve features extraction. The results of features selection using a combination of Mutual information and Hausdorff distance are presented. Preliminary results of sensor fusion for pulsed and continuous metal detectors are also presented.

关键词： Sensor fusion Robot sensing systems Landmine detection Spatial databases Humans Shape Algorithm design and analysis Data mining Feature extraction Mutual information

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Region Reaching Control of Robots: Theory and Experiments

Region Reaching Control of Robots: Theory and Experiments

引用

IEEE international conference on robotics and automation (ICRA)

作者： C.C. Cheah D.Q. Wang School of Electrical and Electronic Engineering Nanyang Technological University Singapore

In conventional setpoint control problems of robot, the desired position is specified as a point. However, in some applications, the desired target is a region instead of a point. In this paper, we propose a new control concept called region reaching control for robot manipulators. In this new control concept, the desired objective can be specified as a region instead of a point. Several region reaching controllers are proposed in task space. Since the desired region can be specified arbitrarily small, the region control concept is also a generalization of setpoint control problem. Lyapunov-like functions are presented for the convergence analysis. Experiment results based on a SONY SCARA robot are presented to illustrate the performance of the proposed region reaching controllers.

关键词： Robot control Orbital robotics Robot kinematics Automatic control Jacobian matrices robotics and automation Manipulator dynamics Convergence End effectors Humans

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Vision-Based 3D Scene Analysis for Driver Assistance

Vision-Based 3D Scene Analysis for Driver Assistance

引用

IEEE international conference on robotics and automation (ICRA)

作者： D. Burschka G.D. Hager Computational Interaction and Robotics Laboratory Johns Hopkins University Baltimore MD USA

We present a vision-based system for traffic sign detection and ego-motion estimation in road scenarios. The system is capable of autonomous scene reconstruction and classification. It is used to pre-select candidate surfaces in the vicinity of the road that should be inspected more closely by a sign recognition system. We compare two approaches based on a binocular and a monocular camera system, respectively. We discuss their advantages and disadvantages for applications in driver assistance systems.

关键词： Image analysis Roads Layout Image edge detection Cameras Real time systems Computer vision Robot vision systems Laboratories Image reconstruction

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Specification of Function Block applications with UML

Specification of Function Block Applications with UML

引用

IEEE international conference on robotics and automation (ICRA)

作者： Wei Zhang W.A. Halang C. Diedrich Faculty of Electrical and Computer Engineering Fern Universität Hagen Hagen Germany Institut of Automation and communication Barleben Germany

The concept of FB based on newly appearing standard IEC 61499 originates in automation engineering and corresponds to the distributed control structure. A FB represents an abstraction of a software functional unit comprising an individual data structure and associated operations. To support the mature of the FB-related design paradigm in this paper, we discuss the specification of FBs and FB applications in UML. The paper suggests three types of models which have the purposes of general specification, automated code generation and test case generation. The first and second models are specified in UML while the third one is to be formalised in certain formal language. We focus on the first two model specification in this paper which transform FB-related elements in UML expressions. This shows that the rich resources provided for UML can be applicable to FB paradigm. The characteristics and the potential use of the model are discussed.

关键词： Unified modeling language IEC standards Software testing System testing automation Application software Distributed control Distributed computing Communication standards Data structures

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Optimizing Leg Distribution Around the Body in Walking Robots

Optimizing Leg Distribution Around the Body in Walking Robot...

引用

IEEE international conference on robotics and automation (ICRA)

作者： P. Gonzalez de Santos J. Estremera E. Garcia Industrial Automation Institute-CSIC Madrid Spain

Walking-robot technology has reached an advanced stage of development, as has already been demonstrated by a number of real applications. However, further improvement is still needed if walking robots are to compete with traditional vehicles. Some potential improvements could be gained through optimization. Thus, this paper presents a method for distributing the legs around the robot’s body such as to reduce the forces the legs must exert to support and propel the robot. The method finds through non-linear optimization techniques the middle leg displacement that nulls the difference between foot forces in a middle leg and a corner leg. A walking robot has been built to assess the theoretical results.

关键词： Legged locomotion Leg Service robots Mobile robots Foot robotics and automation Stability Optimization methods Insects Vehicles

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Prototyping Filter-Sum Beamformers for Sound Source Localization in Mobile robotics

Prototyping Filter-Sum Beamformers for Sound Source Localiza...

引用

IEEE international conference on robotics and automation (ICRA)

作者： S. Argentieri P. Danes P. Soueres LAAS CNRS Toulouse France Université Paul Sabatier Toulouse France

The work presented in this paper comes as a part of a project which aims at developing an auditory system for a mobile robot. It presents a sound source localization strategy which enables the sensing of signals within a direction of arrival and frequency domain of interest while rejecting other data. A rapid prototyping method is proposed to design filter-sum beamformers on the basis of convex optimization. This method is well-suited to robotics applications as it copes with real-time constraints and allows the localization of broadband signals such as human voice. Numerous simulation results are used to illustrate the reasoning.

关键词： Prototypes Mobile robots Microphone arrays Robot sensing systems Sensor arrays Auditory system Frequency domain analysis Array signal processing Acoustic sensors Navigation

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Motion and Structure Estimation from Vision and Inertial Sensor Data with High Speed CMOS Camera

Motion and Structure Estimation from Vision and Inertial Sen...

引用

IEEE international conference on robotics and automation (ICRA)

作者： P. Gemeiner M. Vincze Automation and Control Institute University of Technology Vienna Vienna Austria

This paper presents a system developed in the SmartTracking project to simultaneously estimate the egomotion of a mobile platform and the structure of the environment in which the platform moves. This is required in applications such as robot navigation and augmented reality (AR) to overlay virtual information correctly. The egomotion estimation is achieved by integrating visual and inertial sensor data. The structure estimation is based on the detection of corner features in the environment. From a single known starting position, the system can move into an unknown environment. To enable fast robotics applications the system uses specially developed CMOS cameras that operate at a rate of 2000 image windows per second. The vision and inertial data are fused with an extended Kalman filter. The filter is designed to handle asynchronous input from these two sensors, which typically operate at different and possibly varying rates. Additionally, a bank of filters is used to estimate the quality of structure points and to include them into the structure estimation process. The system is demonstrated on a set-up with known ground truth, such that the motion from a known reference template into a new unknown environment can be shown.

关键词： Motion estimation CMOS image sensors Cameras Head Robot sensing systems Navigation Sensor arrays Sensor systems Augmented reality Computer vision

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