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检索条件"机构=Computer Science and Robotics"

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3D pose-by-detection of vehicles via discriminatively reduced ensembles of correlation filters 25

3D pose-by-detection of vehicles via discriminatively reduce...

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25th British Machine Vision Conference, BMVC 2014

作者： Movshovitz-Attias, Yair Boddeti, Vishnu Naresh Wei, Zijun Sheikh, Yaser Computer Science Department Carnegie Mellon University PA United States Robotics Institute Carnegie Mellon University PA United States

Estimating the precise pose of a 3D model in an image is challenging;explicitly identifying correspondences is difficult, particularly at smaller scales and in the presence of occlusion. Exemplar classifiers have demonstrated the potential of detection-based approaches to problems where precision is required. In particular, correlation filters explicitly suppress classifier response caused by slight shifts in the bounding box. This property makes them ideal exemplar classifiers for viewpoint discrimination, as small translational shifts can often be confounded with small rotational shifts. However, exemplar based pose-by-detection is not scalable because, as the desired precision of viewpoint estimation increases, the number of exemplars needed increases as well. We present a training framework to reduce an ensemble of exemplar correlation filters for viewpoint estimation by directly optimizing a discriminative objective. We show that the discriminatively reduced ensemble outperforms the state-of-the-art on three publicly available datasets and we introduce a new dataset for continuous car pose estimation in street scene images. © 2014. The copyright of this document resides with its authors.

关键词： Bandpass filters

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Development of a robotic prototype system for the preparation and partition of radioactive products

Development of a robotic prototype system for the preparatio...

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2015 IEEE International Conference on Industrial Technology, ICIT 2015

作者： Guevara, Gabriela Lima, José Leitão, Paulo Do Carmo Baptista, Maria Polytechnic Institute of Bragança Campus Sta Apolónia Apartado 1134 Bragança5301-857 Portugal Robotics and Intelligent Systems Rua Dr. Roberto Frias Porto4200-465 Portugal LIACC Artificial Intelligence and Computer Science Laboratory Rua Dr. Roberto Frias Porto4200-465 Portugal Medical Physics Department Dr. Campos Costa - Consultório T.C. SA. Rua de Avis 13 Porto4050-075 Portugal

ISBN: (纸本)9781479978007

The ionizing radiation is used in the nuclear medicine field during the execution of diagnosis exams. The continuous exposure of humans to the radiation may cause organs and tissues damage, being its severity dependent of the quantity of the radiation and the exposure time. The main objective of this work is to design a virtual environment to carry out the simulation of the several stages for the preparation of radioactive products based on the use of a robotic arm. In this work, the V-REP robotic simulation tool was used for the specification and development of the manipulation processes, without the need to consider the real manipulator, being timely and costly efficient. During this study, the preparation process of the dosages in the diagnostic exams was analyzed, being posteriorly translated into mechanical processes for a better perception. The materials and equipment needed were designed as virtual 3D models and posteriorly imported into the V-REP simulation platform in order to be distributed and programmed to achieve a closer approximation to reality. © 2015 IEEE.

关键词： Ionizing radiation

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Learning by observation for surgical subtasks: Multilateral cutting of 3D viscoelastic and 2D Orthotropic Tissue Phantoms

Learning by observation for surgical subtasks: Multilateral ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Adithyavairavan Murali Siddarth Sen Ben Kehoe Animesh Garg Seth McFarland Sachin Patil W. Douglas Boyd Susan Lim Pieter Abbeel Ken Goldberg Department of Electrical Engineering and Computer Science (EECS) Center for Automation and Learning for Medical Robotics (Cal-MR) University of California Berkeley Berkeley CA USA Mechanical Engineering Ohio University Department of Electrical Engineering and Computer Science Athens OH US Division of Cardiothoracic Surgery University of California Davis Medical Center Sacramento CA USA Centre for Breast Screening and Surgery Centre for Robotic Surgery Singapore IEOR and EECS

Automating repetitive surgical subtasks such as suturing, cutting and debridement can reduce surgeon fatigue and procedure times and facilitate supervised tele-surgery. Programming is difficult because human tissue is deformable and highly specular. Using the da Vinci Research Kit (DVRK) robotic surgical assistant, we explore a “Learning By Observation” (LBO) approach where we identify, segment, and parameterize motion sequences and sensor conditions to build a finite state machine (FSM) for each subtask. The robot then executes the FSM repeatedly to tune parameters and if necessary update the FSM structure. We evaluate the approach on two surgical subtasks: debridement of 3D Viscoelastic Tissue Phantoms (3d-DVTP), in which small target fragments are removed from a 3D viscoelastic tissue phantom; and Pattern Cutting of 2D Orthotropic Tissue Phantoms (2d-PCOTP), a step in the standard Fundamentals of Laparoscopic Surgery training suite, in which a specified circular area must be cut from a sheet of orthotropic tissue phantom. We describe the approach and physical experiments with repeatability of 96% for 50 trials of the 3d-DVTP subtask and 70% for 20 trials of the 2d-PCOTP subtask. A video is available at: http://***/Robot-Surgery-Video-Oct-2014.

关键词： Phantoms Three-dimensional displays Surgery Motion segmentation Grippers Robot sensing systems

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FERA 2015 - second Facial Expression Recognition and Analysis challenge

FERA 2015 - second Facial Expression Recognition and Analysi...

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International Conference on Automatic Face and Gesture Recognition

作者： Michel F. Valstar Timur Almaev Jeffrey M. Girard Gary McKeown Marc Mehu Lijun Yin Maja Pantic Jeffrey F. Cohn School of Computer Science University of Nottingham UK Department of Psychology University of Pittsburgh Pittsburgh USA School of Psychology Queen's University Belfast Belfast UK Department of Psychology Webster University Private Vienna Vienna AT Department of Computer Science Binghamton University Binghamton USA Department of Computing Imperial College London London UK Electrical Engineering University of Twente The Netherlands Robotics Institute Carnegie Mellon University Pittsburgh USA

Despite efforts towards evaluation standards in facial expression analysis (e.g. FERA 2011), there is a need for up-to-date standardised evaluation procedures, focusing in particular on current challenges in the field. One of the challenges that is actively being addressed is the automatic estimation of expression intensities. To continue to provide a standardisation platform and to help the field progress beyond its current limitations, the FG 2015 Facial Expression Recognition and Analysis challenge (FERA 2015) will challenge participants to estimate FACS Action Unit (AU) intensity as well as AU occurrence on a common benchmark dataset with reliable manual annotations. Evaluation will be done using a clear and well-defined protocol. In this paper we present the second such challenge in automatic recognition of facial expressions, to be held in conjunction with the 11 IEEE conference on Face and Gesture Recognition, May 2015, in Ljubljana, Slovenia. Three sub-challenges are defined: the detection of AU occurrence, the estimation of AU intensity for pre-segmented data, and fully automatic AU intensity estimation. In this work we outline the evaluation protocol, the data used, and the results of a baseline method for the three sub-challenges.

关键词： Gold Reliability Estimation Databases Feature extraction Face recognition Training

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Modal structure of a cylindrical duct acoustic field-theoretical predictions and experimental verification 7

Modal structure of a cylindrical duct acoustic field-theoret...

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7th Forum Acusticum, FA 2014

作者： Gorazd, Lukasz Kolber, Karolina Raab, Slawomir Smolik, Damian Department of Mechanics and Vibroacoustics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland Faculty of Physics and Applied Computer Science AGH University of Science and Technology Cracow Poland

ISBN: (纸本)9788361402282

The paper presents consistence of the theoretical predictions with obtained experimental results of the pressure field inside a wave-guide modeled mathematically as an infinite/semi-infinite cylindrical duct. The experiments were carried out in two ducts of radius 77 mm and 150 mm. The distribution of the acoustic pressure was measured by means of 1/4 inch microphone on four different duct cross sections with the step 5 mm along the duct radius and 15° in the azimuthal angle. Based on the measurement data the complex amplitudes (i.e. amplitude module and phase) were calculated solving the inverse problem by means of the least square method The obtained experimental data present, in general, consistence with the theoretical predictions, however the accuracy has been improved with the duct radius. The up to date experimental results confirm the multimodal structure of the sound field inside a cylindrical duct. Moreover, the theoretical values of the cut-on frequencies calculated for a hard duct are in very good agreement with the observed ones. These findings confirm that the assumptions of the hard duct and the lossless environment are well justified.

关键词： Ducts

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Towards experimental analysis of challenge scenarios in robotics 12

Towards experimental analysis of challenge scenarios in robo...

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12th International Symposium on Experimental robotics, ISER 2010

作者： Hollinger, Geoffrey A. Singh, Sanjiv Computer Science Department Viterbi School of Engineering University of Southern California Los AngelesCA90089 United States Robotics Institute School of Computer Science Carnegie Mellon University PittsburghPA15213 United States

ISBN: (纸本)9783642285714

We explore the idea of simulated experimental analysis for challenge scenarios in robotics using the search and secure problem from the Multi Autonomous Ground-robotic International Challenge (MAGIC). The MAGIC problem requires a team of heterogeneous robots to locate, classify, and secure a number of targets in an urban environment with indoor and outdoor areas. We introduce a framework for solving the coordination aspects of the challenge by providing guaranteed clearing strategies (i.e., strategies that ensure coming into contact with any adversarial target). The proposed method allows for repair of the clearing schedule after robot failure, as well as a fall-back strategy if clearing is no longer possible. We analyze scenarios taken directly from the competition, and we utilize repeated simulated trials to validate the hypothesis that strategies designed for locating worst-case targets tend to be more robust to failure than strategies designed for locating average-case targets. Thus, more conservative worst-case methods would tend to perform better if the competition were run many times. However, riskier average-case strategies may win in a single competition. These results demonstrate how insight can be gained from repeated simulated analysis of challenge scenarios in robotics. © Springer-Verlag Berlin Heidelberg 2014.

关键词： robotics

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Fiber optically sensorized multi-fingered robotic hand

Fiber optically sensorized multi-fingered robotic hand

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： L. Jiang K. Low J. Costa R. J. Black Yong-Lae Park Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA Intelligent Fiber Optic Systems (IFOS) Corp. Santa Clara CA USA Robotics Institute in the School of Computer Science and the Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA

We present the design, fabrication, and characterization of a fiber optically sensorized robotic hand for multi purpose manipulation tasks. The robotic hand has three fingers that enable both pinch and power grips. The main bone structure was made of a rigid plastic material and covered by soft skin. Both bone and skin contain embedded fiber optics for force and tactile sensing, respectively. Eight fiber optic strain sensors were used for rigid bone force sensing, and six fiber optic strain sensors were used for soft skin tactile sensing. For characterization, different loads were applied in two orthogonal axes at the fingertip and the sensor signals were measured from the bone structure. The skin was also characterized by applying a light load on different places for contact localization. The actuation of the hand was achieved by a tendon-driven under-actuated system. Gripping motions are implemented using an active tendon located on the volar side of each finger and connected to a motor. Opening motions of the hand were enabled by passive elastic tendons located on the dorsal side of each finger.

关键词： Robot sensing systems Tendons Bones Skin Optical fiber sensors

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Fully Decentralized Task Swaps with Optimized Local Searching 10th

Fully Decentralized Task Swaps with Optimized Local Searchin...

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10th robotics: science and Systems, RSS 2014

作者： Liu, Lantao Michael, Nathan Shell, Dylan A. Robotics Institute Carnegie Mellon University United States Dept. of Computer Science and Engineering Texas A&M University United States

Communication constraints dictated by hardware often require a multi-robot system to make decisions and take actions locally. Unfortunately, local knowledge may impose limits that run against global optimality in a decentralized optimization problem. This paper redesigns the task-swap mechanism recently introduced in an anytime assignment algorithm to tackle the problem of decentralized task allocation for large scale multi-robot systems. We propose a fully decentralized approach that allows local search processes to execute concurrently while minimizing interactions amongst the processes, needing neither global broadcast nor a multi-hop communication protocol. The formulation is analyzed in a novel way using tools from group theory and the optimization duality theory to show that the convergence of local searching processes is related to a shortest path routing problem on a graph subject to the network topology. Simulation results show that this fully decentralized method converges quickly while sacrificing little optimality. © 2014, MIT Press Journals. All rights reserved.

关键词： Group theory

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Autonomous parking using a highly maneuverable robotic vehicle 19

Autonomous parking using a highly maneuverable robotic vehic...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Schaub, Alexander De La Cruz, Juan Carlos Ramirez Burschka, Darius Institute of System Dynamics and Control Robotics Mechatronics Center - DLR Wessling82234 Germany Institute of Robotics and Mechatronics Robotics Mechatronics Center - DLR Wessling82234 Germany Department of Computer Science Technische Universität München Garching bei München85748 Germany

ISBN: (纸本)9783902823625

This work presents a novel autonomous parking concept for a four wheel-steerable robotic electric vehicle called ROboMObil (ROMO). Its extraordinary maneuverability, including rotations and lateral driving, and its capability of autonomous driving is demonstrated in the application of parallel parking. The whole process is described starting with the perception to identify a suitable parking spot in the near environment, planning the maneuver, and executing it autonomously. The proposed parking method is free of assumptions and does not use any information about the environment from an external source. Test results with the real vehicle are presented to show the feasibility of the concept. © IFAC.

关键词： Maneuverability

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Safety challenges in using *** to collaborate with humans in indoor environments 14

Safety challenges in using *** to collaborate with humans in...

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7th ACM International Conference on Pervasive Technologies Related to Assistive Environments, PETRA 2014

作者： Lioulemes, Alexandros Galatas, Georgios Metsis, Vangelis Mariottini, Gian Luca Makedon, Fillia Heracleia Laboratory Department of Computer Science and Engineering University of Texas at Arlington ArlingtonTX76015 United States ASTRA Robotics Lab. Department of Computer Science and Engineering University of Texas at Arlington ArlingtonTX76015 United States

ISBN: (纸本)9781450327466

This paper presents an Unmanned Aerial Vehicle (UAV), based on the AR. Drone platform, which can perform an autonomous navigation in indoor (e.g. corridor, hallway) and industrial environments (e.g. production line). It also has the ability to avoid pedestrians while they are working or walking in the vicinity of the robot. The only sensor in our system is the front camera. For the navigation part our system rely on the vanishing point algorithm, the Hough transform for the wall detection and avoidance, and the HOG descriptors for pedestrian detection using SVM classifier. Our experiments show that our vision navigation procedures are reliable and enable the aerial vehicle to y without humans intervention and coordinate together in the same workspace. We are able to detect human motion with high confidence of 85% in a corridor and to confirm our algorithm in 80% successful fight experiments. Copyright is held by the owner/author(s).

关键词： Drones

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