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RGB-D SLAM in Dynamic Environments Using Static Point Weighting

IEEE roboticS AND AUTOMATION LETTERS 2017年第4期2卷 2263-2270页

作者： Li, Shile Lee, Dongheui Tech Univ Munich Dept Elect Engn & Comp Engn D-80333 Munich Germany

We propose a real-time depth edge based RGB-D SLAM system for dynamic environment. Our visual odometry method is based on frame-to-keyframe registration, where only depth edge points are used. To reduce the influence of dynamic objects, we propose a static weighting method for edge points in the keyframe. Static weight indicates the likelihood of one point being part of the static environment. This static weight is added into the intensity assisted iterative closest point (IAICP) method to perform the registration task. Furthermore, our method is integrated into a SLAM (Simultaneous Localization and Mapping) system, where an efficient loop closure detection strategy is used. Both our visual odometry method and SLAM system are evaluated with challenging dynamic sequences from the TUM RGB-D dataset. Compared to state-of-the-art methods for dynamic environment, our method reduces the tracking error significantly.

关键词： computer vision for other robotic applications SLAM (Simultaneous Localization and Mapping) visual tracking

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Planning Trajectories of Adept Six-300 Robot with Using of vision Information 2

Planning Trajectories of Adept Six-300 Robot with Using of V...

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2nd International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Szkodny, Tadeusz Legowski, Adrian Silesian Tech Univ Fac Automat Control Elect & Comp Sci Akad 16 St PL-44100 Gliwice Poland

ISBN: (纸本)9781538632604

In this work(1) the robot motion planning Adept Six-300 using the program Tobject, that calculate coordinates of position and orientation of the manipulation object, observed by the two cameras Edimax IC-7100P is presented. The method of determining the geometric parameters occurring in the equations of the kinematics of the gripper and manipulation object was presented. To geometric calibration of these cameras it was used the original algorithm that does not require calculation of the projection matrix or fundamental matrix. Thanks to this used algorithm is faster and more accurate than methods with these arrays. The input of these algorithms are characteristic points coordinates of the manipulation object, obtained by these two cameras. On the basis of these coordinates the program Tobject calculates the trajectory approaching of the gripper to this object. In discretization point of the trajectory this program calculates coordinates the joint variables of the manipulator. In the calculations multiple solutions of inverse kinematics are taken into account, including solutions in singular configurations. Among of these the multiple solutions is chosen solution minimizing the square indicator of quality. The program Tobject is installed in external computer constituting a server that cooperates with cameras and robot controller, by means of the Ethernet.

关键词： computer vision for other robotic applications computer vision for Automation Motion and Path Planning

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Design Principles of a High-Speed Omni-Scannable Gaze Controller

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IEEE roboticS AND AUTOMATION LETTERS 2016年第2期1卷 836-843页

作者： Kobayashi-Kirschvink, Koseki Oku, Hiromasa Univ Tokyo Grad Sch Arts & Sci Dept Basic Sci Tokyo 1538902 Japan Gunma Univ Sch Sci & Technol Kiryu Gunma 3768515 Japan

We propose design principles of a high-speed omni-scannable gaze controller that is advantageous over previously proposed omni-scannable controllers in terms of response time. This is achieved by overcoming the narrow scanning range of the high-speed Saccade Mirror, a gaze controller that employs single-axis rotating mirrors, while maintaining its short response time. It is first shown that in order to achieve an omni-scan with single-axis rotating mirrors, the gaze controller must follow certain conditions. We then give design principles, and determine the positions and shapes through an optimization under evaluation functions and constraints. The response time is estimated by the inertia of the mirrors, and is shown to be superior to conventional commercial omni-scannable gaze controllers.

关键词： Omnidirectional vision computer vision for other robotic applications

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An Enhanced Unified Camera Model

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IEEE roboticS AND AUTOMATION LETTERS 2016年第1期1卷 137-144页

作者： Khomutenko, Bogdan Garcia, Gaetan Martinet, Philippe ECN Inst Rech Commun & Cybernet Nantes IRCCYN Nantes France ECN Nantes France

This paper describes a novel projection model based on the so-called unified projection model. The new model applies to catadioptric systems and wide-angle fish-eye cameras, it does not require additional mapping to model distortions, and it takes just two projection parameters more than a simple pinhole model to represent radial distortion (one parameter more than the unified model). Here, we provide a study of different mathematical aspects of the model, its application limits, and explicit closed-form inversion. The latter allows to apply all the notions of epipolar geometry with no difficulties. Also, we introduce a concept of projection surface, which is a useful notion to study and compare different projection models with radial distortion. Using developed software, several different lenses were calibrated using the proposed model, and in all cases, subpixel precision was achieved.

关键词： Calibration and Identification Omnidirectional vision computer vision for Transportation computer vision for other robotic applications

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Robust Catheter and Guidewire Tracking Using B-Spline Tube Model and Pixel-Wise Posteriors

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IEEE roboticS AND AUTOMATION LETTERS 2016年第1期1卷 303-308页

作者： Chang, Ping-Lin Rolls, Alexander De Praetere, Herbert Poorten, Emmanuel Vander Riga, Celia V. Bicknell, Colin D. Stoyanov, Danail UCL Ctr Med Image Comp Dept Comp Sci London W5 2LN England Imperial Coll London Dept Surg & Canc Div Surg London W5 2LN England Univ Hosp Leuven Expt Cardiac Surg B-3001 Heverlee Belgium Katholieke Univ Leuven Dept Mech Engn B-3001 Heverlee Belgium

In endovascular surgery and cardiology, robotic catheters are emerging as a promising technology for enhanced catheter manipulation and navigation while reducing radiation exposure. For robotic catheter systems especially with tendon actuation, a key challenge is the localisation of the catheter shape and position within the anatomy. An effective approach is through image-based catheter/guidewire detection and tracking. However, these are difficult problems due to the thin appearance of the instruments in the image and the low signal-to-noise ratio of fluoroscopy. In this letter, we propose a deformable B-spline tube model, which can effectively represent the shape of a catheter and guidewire. The model allows fitting using a region-based probabilistic algorithm, which does not rely on intensity gradients but exploits a signed distance function and the nonparametric distributions of measurements. Unlike previous B-spline fitting approaches, which optimise the spline with respect to control points, we propose a knot-driven scheme with an equidistance prior to better fit complex curves. Our probabilistic framework shows promising results for catheter and guidewire tracking in different procedures even with handling overlapping instrument segments. We present empirical studies using phantom model data and in vivo fluoroscopic sequences with annotated ground truth. Our results indicate that the proposed approach can precisely model the catheter and guidewire contours in near real time, and this information can be embedded in a robotic catheter control loop or utilised for image-guidance.

关键词： computer vision for other robotic applications Optimization and Optimal Control Probability and Statistical Methods Visual Tracking Surgical robotics: Steerable Catheters/Needles

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Compressive Sensing-Based Metrology for Micropositioning Stages Characterization

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IEEE roboticS AND AUTOMATION LETTERS 2016年第2期1卷 638-645页

作者： Tan, Ning Clevy, Cedric Laurent, Guillaume J. Chaillet, Nicolas Univ Franche Comte FEMTO ST Inst UFC ENSMM UTBM CNRS F-25000 Besancon France

High accuracy is a necessary condition for reliable performance of micropositioning stages (MPSs). However, there are various sources of errors that affect their precision. Characterization is a prior step to calibration for compensating systematic errors so as to improve the positioning accuracy. In this letter, the compressive sensing (CS) theory is applied to characterize system errors of MPSs. This method could be flexibly collaborated with any sensors and applicable to widespread microsystems where the motions and errors are required to be measured. CS 1) improves the data acquisition and processing in terms of time and 2) could be employed as an interpolating strategy to efficiently replace the lookup tables. As a case study, the CS-based method is applied to characterize the position-dependent errors of an XY serial MPS. Experimental results show that the method is able to retrieve the microscale positions with largely shortened time and high precision. The spent time for data acquisition and processing is shortened by more than 84% for X stage and 82% for Y stage. These results are especially promising for microscale purposes where the system behavior is varying and difficult to characterize.

关键词： Micro/Nano Robots Calibration and Identification Automation at Micro-Nano Scales computer vision for other robotic applications

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On the Accuracy of Dense Fisheye Stereo

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IEEE roboticS AND AUTOMATION LETTERS 2016年第1期1卷 227-234页

作者： Schneider, Johannes Stachniss, Cyrill Foerstner, Wolfgang Univ Bonn Inst Geodesy & Geoinformat Dept Photogrammetry D-53115 Bonn Germany

Fisheye cameras offer a large field of view, which is important for several robotics applications as a larger field of view allows for covering a large area with a single image. In contrast to classical cameras, however, fisheye cameras cannot be approximated well using the pinhole camera model and this renders the computation of depth information from fisheye stereo image pairs more complicated. In this work, we analyze the combination of an epipolar rectification model for fisheye stereo cameras with existing dense methods. This has the advantage that existing dense stereo systems can be applied as a black-box even with cameras that have field of view of more than 180. to obtain dense disparity information. We thoroughly investigate the accuracy potential of such fisheye stereo systems using image data from our UAV. The empirical analysis is based on image pairs of a calibrated fisheye stereo camera system and two state-of-the-art algorithms for dense stereo applied to adequately rectified image pairs from fisheye stereo cameras. The canonical stochastic model for sensor points assumes homogeneous uncertainty and we generalize this model based on an empirical analysis using a test scene consisting of mutually orthogonal planes. We show that: (1) the combination of adequately rectified fisheye image pairs and dense methods provides dense 3D point clouds at 6-7 Hz on our autonomous multicopter UAV;(2) the uncertainty of points depends on their angular distance from the optical axis;(3) how to estimate the variance component as a function of that distance;and (4) how the improved stochastic model improves the accuracy of the scene points.

关键词： Range Sensing Omnidirectional vision Mapping computer vision for other robotic applications

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Application of vision Information to Planning Trajectories of Adept Six-300 Robot 21

Application of Vision Information to Planning Trajectories o...

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21st International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Tadeusz, Szkodny Silesian Tech Univ Fac Automat Control Elect & Comp Sci Akad 16 St PL-44100 Gliwice Poland

ISBN: (纸本)9781509018666

This article(1) presents the algorithms of calculations of the manipulation object coordinate position and orientation, for the planning movement of the robot Adept Six-300. Two cameras Edimax IC-7100P observe objects in the robot environment. To geometric calibration of these cameras it was used the original algorithm that does not require calculation of the projection matrix or fundamental matrix. Thanks to this used algorithm is faster and more accurate than methods with these arrays. The input of these algorithms are the coordinates of the characteristic points of the manipulation object, obtained by these two cameras. On the basis of these input data the coordinates of the position and orientation of the object seen by the cameras are calculated. For these coordinates the joint variables of the manipulator are calculated by means of the program that takes into account the singular configurations and that optimize a quality indicator. These variables describe the trajectory approaching of the gripper to the object, grasp and pick up it. All calculations are doing in external computer constituting a server that cooperates with cameras and robot controller, by means of the Ethernet.

关键词： computer vision for other robotic applications computer vision for Automation Motion and Path Planning

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Application of vision Information to Planning Trajectories of Adept Six-300 Robot

Application of Vision Information to Planning Trajectories o...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Tadeusz, Szkodny Silesian Tech Univ Fac Automat Control Elect & Comp Sci Akad 16 St PL-44100 Gliwice Poland

ISBN: (纸本)9781509033645

关键词： computer vision for other robotic applications computer vision for Automation Motion and Path Planning

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