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检索条件"机构=Computer Vision and Active Perception Lab"

共 92 条记录，以下是51-60 订阅

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What's in the Container? Classifying Object Contents from vision and Touch

What's in the Container? Classifying Object Contents from Vi...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Puren Guler Yasemin Bekiroglu Xavi Gratal Karl Pauwels Danica Kragic Computer Vision and Active Perception Lab Center for Autonomous Systems School of Computer Science and Communication KTH Royal Institute of Technology Stockholm Sweden Computer Architecture and Technology Department University of Granada Spain

ISBN: (纸本)9781479969357

Robots operating in household environments need to interact with food containers of different types. Whether a container is filled with milk, juice, yogurt or coffee may affect the way robots grasp and manipulate the container. In this paper, we concentrate on the problem of identifying what kind of content is in a container based on tactile and/or visual feedback in combination with grasping. In particular, we investigate the benefits of using unimodal (visual or tactile) or bimodal (visual-tactile) sensory data for this purpose. We direct our study toward cardboard containers with liquid or solid content or being empty. The motivation for using grasping rather than shaking is that we want to investigate the content prior to applying manipulation actions to a container. Our results show that we achieve comparable classification rates with unimodal data and that the visual and tactile data are complimentary.

关键词： CONTAINERS Grasp Robot Food Containers dry matter content NONVOLATILE CONTENT Visualization Unimodal

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Filling the gap between low frequency measurements with their estimates

Filling the gap between low frequency measurements with thei...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yuquan Wang Dragan Kostić Sven T. H. Jansen Henk Nijmeijer Computer Vision and Active Perception Lab Royal Institute of Technology Stockholm The Mechanical Engineering department Eindhoven University of Technology Eindhoven Technical Sciences/Automotive department TNO Helmond

The use of redundant sensors brings a rich diversity of information, nevertheless fusing different sensors that run at vastly different frequencies into a proper estimate is still a challenging sensor fusion problem. Instead of using the size-varying measurements and thereby the size-varying filters during each sampling period, we propose to find a substitute of the unavailable low frequency measurements such that we can avoid using different sampling frequencies in one filter. In the gap between the sampling of two low frequency measurements, the use of these substitutes produces smoother estimates. In both the proof of concept simulation and the localization experiment performed on an indoor soccer robot, our proposed approach exhibits an improved performance compared to the size-varying Kalman filter methods.

关键词： Frequency measurement Kalman filters Time measurement Sensor fusion Switches Robots Vectors

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Robot navigation under uncertainties using event based sampling

Robot navigation under uncertainties using event based sampl...

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IEEE Conference on Decision and Control

作者： Michele Colledanchise Dimos V. Dimarogonas Petter Ögren Centre for Autonomous Systems The Royal Institute of Technology - KTH Stockholm Sweden Centre for Autonomous Systems Computer Vision and Active Perception Lab School of Computer Science and Communication The Royal Institute of Technology - KTH Stockholm Sweden

In many robot applications, sensor feedback is needed to reduce uncertainties in environment models. However, sensor data acquisition also induces costs in terms of the time elapsed to make the observations and the computations needed to find new estimates. In this paper, we show how to use event based sampling to reduce the number of measurements done, thereby saving time, computational resources and power, without jeopardizing critical system properties such as safety and goal convergence. This is done by combining recent advances in nonlinear estimation with event based control using artificial potential fields. The results are particularly useful for real time systems such as high speed vehicles or teleoperated robots, where the cost of taking measurements is even higher, in terms of stops or transmission times. We conclude the paper with a set of simulations to illustrate the effectiveness of the approach and compare it with a baseline approach using periodic measurements.

关键词： Robot sensing systems Collision avoidance Uncertainty Time measurement Bismuth Navigation

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Qualitative vocabulary based descriptor

Qualitative vocabulary based descriptor

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2nd International Conference on Pattern Recognition Applications and Methods, ICPRAM 2013

作者： Afkham, Heydar Maboudi Ek, Carl Henrik Carlsson, Stefan Computer Vision and Active Perception Lab. KTH Stockholm Sweden

ISBN: (纸本)9789898565419

Creating a single feature descriptors from a collection of feature responses is an often occurring task. As such the bag-of-words descriptors have been very successful and applied to data from a large range of different domains. Central to this approach is making an association of features to words. In this paper we present a new and novel approach to feature to word association problem. The proposed method creates a more robust representation when data is noisy and requires less words compared to the traditional methods while retaining similar performance. We experimentally evaluate the method on a challenging image classification data-set and show significant improvement to the state of the art.

关键词： Image classification

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Model-aided State Estimation for Quadrotor Micro Air Vehicles amidst Wind Disturbances

Model-aided State Estimation for Quadrotor Micro Air Vehicle...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dinuka Abeywardena Zhan Wang Gamini Dissanayake Steven L. Waslander Sarath Kodagoda Centre for Autonomous Systems University of Technology Sydney Computer Vision and Active Perception Lab Centre for Autonomous Systems CSC The Royal Institute of Technology KTH Stockholm 100 44 Sweden Waterloo Autonomous Vehicles Laboratory University of Waterloo Waterloo ON Canada N2L 3G1

ISBN: (纸本)9781479969357

This paper extends the recently developed Model-Aided Visual-Inertial Fusion (MA-VIF) technique for quadrotor Micro Air Vehicles (MAV) to deal with wind disturbances. The wind effects are explicitly modelled in the quadrotor dynamic equations excluding the unobservable wind velocity component. This is achieved by a nonlinear observability of the dynamic system with wind effects. We show that using the developed model, the vehicle pose and two components of the wind velocity vector can be simultaneously estimated with a monocular camera and an inertial measurement unit. We also show that the MA-VIF is reasonably tolerant to wind disturbances, even without explicit modelling of wind effects and explain the reasons for this behaviour. Experimental results using a Vicon motion capture system are presented to demonstrate the effectiveness of the proposed method and validate our claims.

关键词： Mathematical model Wind speed Equations Observability Accelerometers Vectors Vehicle dynamics

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Supervised Hierarchical Dirichlet Processes with Variational Inference

Supervised Hierarchical Dirichlet Processes with Variational...

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International Conference on computer vision Workshops (ICCV Workshops)

作者： Cheng Zhang Carl Henrik Ek Xavi Gratal Florian T. Pokorny Hedvig Kjellstrom Computer Vision and Active Perception Lab KTH Royal Institute of Technology Stockholm Sweden

We present an extension to the Hierarchical Dirichlet Process (HDP), which allows for the inclusion of supervision. Our model marries the non-parametric benefits of HDP with those of Supervised Latent Dirichlet Allocation (SLDA) to enable learning the topic space directly from data while simultaneously including the labels within the model. The proposed model is learned using variational inference which allows for the efficient use of a large training dataset. We also present the online version of variational inference, which makes the method scalable to very large datasets. We show results comparing our model to a traditional supervised parametric topic model, SLDA, and show that it outperforms SLDA on a number of benchmark datasets.

关键词： Computational modeling computer vision Data models Equations Standards Vectors Adaptation models

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Integrating 3D features and virtual visual servoing for hand-eye and humanoid robot pose estimation

Integrating 3D features and virtual visual servoing for hand...

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IEEE-RAS International Conference on Humanoid Robots

作者： Xavi Gratal Christian Smith Mårten Björkman Danica Kragic Computer Vision and Active Perception Lab. Royal Institute of Technology KTH Stockholm Sweden

In this paper, we propose an approach for vision-based pose estimation of a robot hand or full-body pose. The method is based on virtual visual servoing using a CAD model of the robot and it combines 2-D image features with depth features. The method can be applied to estimate either the pose of a robot hand or pose of the whole body given that its joint configuration is known. We present experimental results that show the performance of the approach as demonstrated on both a mobile humanoid robot and a stationary manipulator.

关键词： Robots Solid modeling Feature extraction Image edge detection Estimation Cameras Joints

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Predicting slippage and learning manipulation affordances through Gaussian Process regression

Predicting slippage and learning manipulation affordances th...

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IEEE-RAS International Conference on Humanoid Robots

作者： Francisco E. Viña B. Yasemin Bekiroglu Christian Smith Yiannis Karayiannidis Danica Kragic Computer Vision and Active Perception Lab. Centre for Autonomous Systems School of Computer Science and Communication Royal Institute of Technology KTH SE-100 44 Stockholm Sweden Computer Vision and Active Perception Lab Royal Institute of Technology KTH Stockholm Sweden

Object grasping is commonly followed by some form of object manipulation - either when using the grasped object as a tool or actively changing its position in the hand through in-hand manipulation to afford further interaction. In this process, slippage may occur due to inappropriate contact forces, various types of noise and/or due to the unexpected interaction or collision with the environment. In this paper, we study the problem of identifying continuous bounds on the forces and torques that can be applied on a grasped object before slippage occurs. We model the problem as kinesthetic rather than cutaneous learning given that the measurements originate from a wrist mounted force-torque sensor. Given the continuous output, this regression problem is solved using a Gaussian Process approach. We demonstrate a dual armed humanoid robot that can autonomously learn force and torque bounds and use these to execute actions on objects such as sliding and pushing. We show that the model can be used not only for the detection of maximum allowable forces and torques but also for potentially identifying what types of tasks, denoted as manipulation affordances, a specific grasp configuration allows. The latter can then be used to either avoid specific motions or as a simple step of achieving in-hand manipulation of objects through interaction with the environment.

关键词： Friction Robot sensing systems Force Torque Grasping

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Classical Grasp Quality Evaluation: New Algorithms and Theory

Classical Grasp Quality Evaluation: New Algorithms and Theor...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Florian T. Pokorny Danica Kragic Computer Vision and Active Perception Lab Centre for Autonomous Systems KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781467363563

This paper investigates theoretical properties of a well-known L~1 grasp quality measure Q whose approximation Q_l~- is commonly used for the evaluation of grasps and where the precision of Q_l~- depends on an approximation of a cone by a convex polyhedral cone with l edges. We prove the Lipschitz continuity of Q and provide an explicit Lipschitz bound that can be used to infer the stability of grasps lying in a neighbourhood of a known grasp. We think of Q_l~- as a lower bound estimate to Q and describe an algorithm for computing an upper bound Q~+. We provide worst-case error bounds relating Q and Q_l~-. Furthermore, we develop a novel grasp hypothesis rejection algorithm which can exclude unstable grasps much faster than current implementations. Our algorithm is based on a formulation of the grasp quality evaluation problem as an optimization problem, and we show how our algorithm can be used to improve the efficiency of sampling based grasp hypotheses generation methods.

关键词： New Algorithms Theory evaluation of grasps Grasp theories Quality factor formula quality evaluation approximate formula algorithms Lower bound Neighborhood

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Friction Coefficients and Grasp Synthesis

Friction Coefficients and Grasp Synthesis

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Kaiyu Hang Florian T. Pokorny Danica Kragic Computer Vision and Active Perception Lab Centre for Autonomous Systems CSC KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781467363563

We propose a new concept called friction sensitivity which measures how susceptible a specific grasp is to changes in the underlying friction coefficients. We develop algorithms for the synthesis of stable grasps with low friction sensitivity and for the synthesis of stable grasps in the case of small friction coefficients. We describe how grasps with low friction sensitivity can be used when a robot has an uncertain belief about friction coefficients and study the statistics of grasp quality under changes in those coefficients. We also provide a parametric estimate for the distribution of grasp qualities and friction sensitivities for a uniformly sampled set of grasps.

关键词： Friction Coefficients Grasp Synthesis underlying friction coefficients Grasp coefficient of friction friction synthesis

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