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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Jari Saarinen Henrik Andreasson Todor Stoyanov Achim J. Lilienthal Center of Applied Autonomous Sensor Systems (AASS) Orebro University Sweden

ISBN: (纸本)9781467363563

Industrial applications often impose hard requirements on the precision of autonomous vehicle systems. As a consequence industrial Automatically Guided Vehicle (AGV) systems still use high-cost infrastructure based positioning solutions. In this paper we propose a map based localization method that fulfills the requirements on precision and repeatability, typical for industrial application scenarios. The proposed method - Normal Distributions Transform Monte Carlo Localization (NDT-MCL) is based on a well established probabilistic framework. In a novel contribution, we formulate the MCL localization approach using the Normal Distributions Transform (NDT) as an underlying representation for both map and sensor data. By relaxing the hard discretization assumption imposed by grid-map models and utilizing the piecewise continuous NDT representation the proposed algorithm achieves substantially improved accuracy and repeatability. The proposed NDT-MCL algorithm is evaluated using offline data sets from both a laboratory and a real-world industrial environments. Additionally, we report a comparison of the proposed algorithm to grid-based MCL and to a commercial localization system when used in a closed-loop with the control system of an AGV platform. In all tests the proposed algorithm is demonstrated to provide performance superior to that of standard grid-based MCL and comparable to the performance of the commercial infrastructure based positioning system.

关键词： Gaussian distribution Industrial applications maps Precision control systems Localization method Positioning systems autonomous Vehicles Transform sensor Data

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Application based 3D sensor evaluation: A case study in 3D object pose estimation for automated unloading of containers

Application based 3D sensor evaluation: A case study in 3D o...

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European Conference on Mobile Robots (ECMR)

作者： Rasoul Mojtahedzadeh Todor Stoyanov Achim J. Lilienthal Center of Applied Autonomous Sensor Systems (AASS) Örebro University Sweden

A fundamental task in the design process of a complex system that requires 3D visual perception is the choice of suitable 3D range sensors. Identifying the utility of 3D range sensors in an industrial application solely based on an evaluation of their distance accuracy and the noise level may lead to an inappropriate selection. To assess the actual effect on the performance of the system as a whole requires a more involved analysis. In this paper, we examine the problem of selecting a set of 3D range sensors when designing autonomous systems for specific industrial applications in a holistic manner. As an instance of this problem we present a case study with an experimental evaluation of the utility of four 3D range sensors for object pose estimation in the process of automation of unloading containers.

关键词： Robot sensing systems Three-dimensional displays Estimation Tires Containers Cameras Accuracy

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Fast 3D Mapping in Highly Dynamic Environments using Normal Distributions Transform Occupancy Maps

Fast 3D Mapping in Highly Dynamic Environments using Normal ...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Jari Saarinen Todor Stoyanov Henrik Andreasson Achim J. Lilienthal Center of Applied Autonomous Sensor Systems (AASS) Orebro University Sweden

ISBN: (纸本)9781467363563

autonomous vehicles operating in real-world industrial environments have to overcome numerous challenges, chief among which is the creation and maintenance of consistent 3D world models. This paper focuses on a particularly important challenge: mapping in dynamic environments. We introduce several improvements to the recently proposed Normal Distributions Transform Occupancy Map (NDT-OM) aimed for efficient mapping in dynamic environments. A careful consistency analysis is given based on convergence and similarity metrics specifically designed for evaluation of NDT maps in dynamic environments. We show that in the context of mapping with known poses the proposed method results in improved consistency and in superior runtime performance, when compared against 3D occupancy grids at the same size and resolution. Additionally, we demonstrate that NDT-OM features real-time performance in a highly dynamic 3D mapping and tracking scenario with centimeter accuracy over a 1.5km trajectory.

关键词： Vehicle Occupancy runtime performance Gaussian distribution Environments autonomous Vehicles maps Transform

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When Robots are Late: Configuration Planning for Multiple Robots with Dynamic Goals

When Robots are Late: Configuration Planning for Multiple Ro...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Maurizio Di Rocco Federico Pecora Alessandro Saffiotti Center for Applied Autonomous Sensor Systems ?rebro University SE-70182 Sweden.

ISBN: (数字)9781467363587

ISBN: (纸本)9781467363563

Unexpected contingencies in robot execution may induce a cascade of effects, especially when multiple robots are involved. In order to effectively adapt to this, robots need the ability to reason along multiple dimensions at execution time. We propose an approach to closed-loop planning capable of generating configuration plans, i.e., action plans for multi-robot systems which specify the causal, temporal, resource and information dependencies between individual sensing, computation, and actuation components. The key feature which enables closed loop performance is that configuration plans are represented as constraint networks, which are shared between the planner and the executor and are continuously updated during execution. We report experiments run both in simulation and on real robots, in which a fault in one robot is compensated through different types of plan modifications at run time.

关键词： temporal resource information Cooperating robots Robot Planning multi-robot systems configurations Legal Executions Runtime execution time

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Evolutionary computation based system decomposition with neural Networks

Evolutionary computation based system decomposition with neu...

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21st European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, ESANN 2013

作者： Kaltenhäuser, Robert Schaffernicht, Erik Steege, Frank-Florian Gross, Horst-Michael Neuroinformatics and Cognitive Robotics Lab Ilmenau University of Technology Helmholtzplatz 5 98693 Ilmenau Germany Center of Applied Autonomous Sensor Systems Örebro University Sweden STEAG Powitec GmbH 45219 Essen-Kettwig Germany

ISBN: (纸本)9782874190810

We present an evolutionary approach to divide a complex control system into smaller sub-systems with the help of neural networks. Thereto, measured channels are partitioned into several disjunct sets, representing possible sub-problems, while the networks are used to assess the quality of the resulting decomposition. We show that this approach is well suited to calculate correct decompositions of complex control systems. Furthermore, the obtained neural networks are used to predict important process factors with considerable better approximation quality than monolithic approaches that have to deal with all input channels in parallel.

关键词： Complex networks

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A Hash Table Approach for Large Scale Perceptual Anchoring

A Hash Table Approach for Large Scale Perceptual Anchoring

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IEEE International Conference on systems, Man, and Cybernetics

作者： Andreas Persson Amy Loutfi Center for Applied Autonomous Sensor Systems (AASS) Dept. of Science and Technology ?rebro University ?rebro Sweden

ISBN: (纸本)9781479906505

Perceptual anchoring deals with the problem of creating and maintaining the connection between percepts and symbols that refer to the same physical object. When approaching long term use of an anchoring framework which must cope with large sets of data, it is challenging to both efficiently and accurately anchor objects. An approach to address this problem is through visual perception and computationally efficient binary visual features. In this paper, we present a novel hash table algorithm derived from summarized binary visual features. This algorithm is later contextualized in an anchoring framework. Advantages of the internal structure of proposed hash tables are presented, as well as improvements through the use of hierarchies structured by semantic knowledge. Through evaluation on a larger set of data, we show that our approach is appropriate for efficient bottom-up anchoring, and performance-wise comparable to recently presented search tree algorithm.

关键词： Perceptual anchoring large scale efficient matching hash table binary visual features semantic categorization Hash table cast anchor Dataset Tree searching Social Hierarchy

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Normal Distributions Transform Occupancy Maps: Application to large-scale online 3D mapping

Normal Distributions Transform Occupancy Maps: Application t...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jari Saarinen Henrik Andreasson Todor Stoyanov Juha Ala-Luhtala Achim J. Lilienthal Center of Applied Autonomous Sensor Systems (AASS) Örebro University Sweden Department of Mathematics Tampere University of Technology Finland

ISBN: (纸本)9781467356404

autonomous vehicles operating in real-world industrial environments have to overcome numerous challenges, chief among which is the creation and maintenance of consistent 3D world models. This paper proposes to address the challenges of online real-world mapping by building upon previous work on compact spatial representation and formulating a novel 3D mapping approach - the Normal Distributions Transform Occupancy Map (NDT-OM). The presented algorithm enables accurate real-time 3D mapping in large-scale dynamic environments employing a recursive update strategy. In addition, the proposed approach can seamlessly provide maps at multiple resolutions allowing for fast utilization in high-level functions such as localization or path planning. Compared to previous approaches that use the NDT representation, the proposed NDT-OM formulates an exact and efficient recursive update formulation and models the full occupancy of the map.

关键词： Three-dimensional displays Gaussian distribution sensors Erbium Real-time systems Accuracy Transforms

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Introduction to the 2nd international workshop on adaptive robotic ecologies, ARE'13

Introduction to the 2nd international workshop on adaptive r...

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4th International Joint Conference on Ambient Intelligence, AmI 2013

作者： Chessa, Stefano Dragone, Mauro Renteria, Arantxa Saffiotti, Alessandro Dipartimento di Informatica University of Pisa largo Pontecorvo 3 56127 Pisa Italy School of Computer Science and Informatics University College Dublin Belfield-Dublin 4 Ireland Spain Center for Applied Autonomous Sensor Systems Örebro University SE-70182 Sweden Sweden

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Monitoring of CCS Areas using Micro Unmanned Aerial Vehicles (MUAVs)

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Energy Procedia 2013年 37卷 4182-4190页

作者： P.P. Neumann S. Asadi V. Hernandez Bennetts A.J. Lilienthal M. Bartholmai BAM Federal Institute for Materials Research and Testing Unter den Eichen 87 12205 Berlin Germany Center for Applied Autonomous Sensor Systems Örebro University70182 Örebro Sweden

Carbon capture & storage (CCS) is one of the most promising technologies for greenhouse gas (GHG) management. However, an unsolved issue of CCS is the development of appropriate long-term monitoring systems for leak detection of the stored CO 2 . To complement already existing monitoring infrastructure for CO 2 storage areas, and to increase the granularity of gas concentration measurements, a quickly deployable, mobile measurement device is needed. In this paper, we present an autonomous gas-sensitive micro-drone, which can be used to monitor GHG emissions, more specifically, CO 2 . Two different measurement strategies are proposed to address this task. First, the use of predefined sensing trajectories is evaluated for the task of gas distribution mapping using the micro-drone. Alternatively, we present an adaptive strategy, which suggests sampling points based on an artificial potential field (APF). The results of real-world experiments demonstrate the feasibility of using gas-sensitive micro-drones for GHG monitoring missions. Thus, we suggest a multi-layered surveillance system for CO 2 storage areas.

关键词： gas-sensitive micro-drone gas distribution mapping sensor planning artificial potential field CCS

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Health Monitoring for Elderly: An Application Using Case-Based Reasoning and Cluster Analysis

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International Scholarly Research Notices 2013年第1期2013卷

作者： Mobyen Uddin Ahmed Hadi Banaee Amy Loutfi Center for Applied Autonomous Sensor Systems Örebro University 701 82 Örebro Swedenoru.se

This paper presents a framework to process and analyze data from a pulse oximeter which remotely measures pulse rate and blood oxygen saturation from a set of individuals. Using case-based reasoning (CBR) as the backbone to the framework, records are analyzed and categorized according to their similarity. Record collection has been performed using a personalized health profiling approach in which participants wore a pulse oximeter sensor for a fixed period of time and performed specific activities for pre-determined intervals. Using a variety of feature extraction methods in time, frequency, and time-frequency domains, as well as data processing techniques, the data is fed into a CBR system which retrieves most similar cases and generates an alarm according to the case outcomes. The system has been compared with an expert′s classification, and a 90% match is achieved between the expert′s and CBR classification. Again, considering the clustered measurements, the CBR approach classifies 93% correctly both for the pulse rate and oxygen saturation. Along with the proposed methodology, this paper provides a basis for which the system can be used in the analysis of continuous health monitoring and can be used as a suitable method in home/remote monitoring systems.

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