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作者： Albert Palomer Pere Ridao David Ribas Guillem Vallicrosa Computer Vision and Robotics (VICOROB) institute Universitat de Girona Girona Spain

Building accurate bathymetries of the seabed has been a focus of study in the last decade. For this purpose seabed point cloud registration has been a focus for some researchers. Some of this registration methods are based on gathering the points of the cloud that contain more information for the registration (i.e. the ones that flat or smooth, normally being the seabed) and using them as part of ICP-derived methods. For this point picking purpose, we present a segmentation technique that distinguish between objects (interesting for registration) and ground (smooth and not interesting for registration). The method proposed here uses difference of normals for object's border detection and a variation of the Density-Based Spatial Clustering of Application with Noise for object clustering. Once the objects boundaries are detected and the points are clustered the rest of the points are classified as object or ground. This classification is done by taking all the points that lie within the object's border and checking it's depth compare to its closes border point. The method is evaluated using a multi-beam dataset gathered on the La Lune shipwreck, a site of archaeological interest.

关键词： Three-dimensional displays Clustering algorithms Sonar Benchmark testing Robots Noise Underwater vehicles

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Autonomous underwater panel operation by GIRONA500 UVMS: A practical approach to autonomous underwater manipulation

Autonomous underwater panel operation by GIRONA500 UVMS: A p...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Patryk Cieslak Pere Ridao Mariusz Giergiel Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland Computer Vision and Robotics Research Institute CIRS Building Girona Catalonia Spain

This paper proposes a controller for the GIRONA500 Underwater Vehicle Manipulator System and reports experimental results for an autonomous floating-base valve-turning manipulation application. The selected method is based on kinematic control, avoiding the need for a complex, and difficult to obtain, hydrodynamic model. The method relies on the decoupled control of the vehicle and manipulator velocities using a combination of the task priority redundancy resolution and the task concurrence approaches. The paper discusses the manipulation tasks needed, their hierarchical organisation, and a set of strategies that were needed to complement the `standard' task-priority approach to successfully solve the floating-base manipulation problem in water tank experimental conditions.

关键词： Vehicles Kinematics Manipulators Joints Jacobian matrices Valves

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A vision based aerial robot solution for the Mission 7 of the International Aerial robotics Competition

A vision based aerial robot solution for the Mission 7 of th...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Jose Luis Sanchez-Lopez Jesús Pestana Jean-Franois Collumeau Ramon Suarez-Fernandez Pascual Campoy Martin Molina Computer Vision Group Centre for Automation and Robotics Spain Aerial Vision Group Graz University of Technology - TUGraz Austria Robotics Institute Delft University of Technology (TU Delft) Delft The Netherlands Department of Artificial Intelligence Technical University of Madrid (UPM) Spain

ISBN: (纸本)9781479960118

The International Aerial robotics Competition (IARC) aims at pulling forward the state of the art in UAV. The Mission's 7 challenge deals mainly with GPS/Laser denied navigation, Robot-Robot interaction and obstacle avoidance in the setting of a ground robot herding problem. We present in this paper our UAV which took part in the 2014 competition, in the China venue. This year, the mission was not completed by any participant but our team at Technical University of Madrid (UPM) were awarded with two special prizes: Best Target Detection and Best System Control. The platform, hardware and the developed software used in this top leading competition are presented in this paper. This software has three main components: the visual localization and mapping algorithm; the control algorithms; and the mission planner. A statement of the safety measures integrated in the drone and of our efforts to ensure field testing in conditions as close as possible to the challenger's are also included.

关键词： Robots computer architecture Optical sensors Vehicles computers Safety

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Balanced optical flow refinement by bidirectional constraint

Balanced optical flow refinement by bidirectional constraint

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作者： Choi, Jongwon Kim, Hyeongwoo Oh, Tae-Hyun Kweon, In So Robotics and Computer Vision Laboratory Korea Advanced Institute of Science and Technology Korea Republic of

ISBN: (纸本)9781479957514

We present an efficient optical flow refinement approach based on a bidirectional flow consistency. Our method is an add-on component that improves the existing optical flow estimation to be balanced between forward and backward flows. Most of the state-of-the-art optical flow methods only consider unidirectional motion vectors from a source image to a target image, which can make the estimated flow inconsistent with its backward estimation. The inconsistency can be reduced by considering the bidirectional motion when the optical flow is estimated, but it would be very hard for most of the typical optical flow methods and impossible for some of them. To solve this problem, we propose a sampling-based optimization method for efficiently refining the optical flows with a bidirectional constraint. By evaluating on Middle-bury benchmark and public large displacement datasets, we validate the effectiveness of our method quantitatively and qualitatively and for accuracy. © 2014 IEEE.

关键词： Optical flows

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Robotic Software System for the Disaster Circumstances: System of Team KAIST in the DARPA robotics Challenge Finals

Robotic Software System for the Disaster Circumstances: Syst...

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeongsoo Lim Inwook Shim Okkee Sim Hyunmin Joe Inhyeok Kim Jungho Lee Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory Department of Electrical Engineering College of Information Science and Technology Korea Advanced Institute of Science and Technology Rainbow Co.

ISBN: (纸本)9781479968862

We developed a software system for operating the humanoid robot DRC-HUBO+ in disaster circumstances that the US Defense Advanced Research Projects Agency suggested. This system was developed under the consideration of the stability of whole system, the systemic software environment for multiple developers, and the recovery routine when the system encounters a seriously abnormal situation. With these design goals, we devised our strategy for three domains: system, vision, and communication. Following the strategy we made two software frameworks (PODO and VPC) and one logical flow of data for remote process management. With this software system, we conducted all Tasks in the DARPA robotics Challenge Finals, and we won the competition.

关键词： Software systems DARPA design target robotics Disasters Religious Missions flow datas

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Evolutionary Quasi-random Search for Hand Articulations Tracking

Evolutionary Quasi-random Search for Hand Articulations Trac...

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IEEE Conference on computer vision and Pattern Recognition

作者： Iason Oikonomidis Manolis I. A. Lourakis Antonis A. Argyros Computational Vision and Robotics Laboratory Institute of Computer Science

ISBN: (纸本)9781479951192

We present a new method for tracking the 3D position, global orientation and full articulation of human hands. Following recent advances in model-based, hypothesize-and-test methods, the high-dimensional parameter space of hand configurations is explored with a novel evolutionary optimization technique specifically tailored to the problem. The proposed method capitalizes on the fact that samples from quasi-random sequences such as the Sobol have low discrepancy and exhibit a more uniform coverage of the sampled space compared to random samples obtained from the uniform distribution. The method has been tested for the problems of tracking the articulation of a single hand (27D parameter space) and two hands (54D space). Extensive experiments have been carried out with synthetic and real data, in comparison with state of the art methods. The quantitative evaluation shows that for cases of limited computational resources, the new approach achieves a speed-up of four (single hand tracking) and eight (two hands tracking) without compromising tracking accuracy. Interestingly, the proposed method is preferable compared to the state of the art either in the case of limited computational resources or in the case of more complex (i.e., higher dimensional) problems, thus improving the applicability of the method in a number of application domains.

关键词： Computational modeling Optimization Kinematics Tracking Joints Accuracy Linear programming

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Autonomous I-AUV docking for fixed-base manipulation 19

Autonomous I-AUV docking for fixed-base manipulation

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

作者： Palomeras, Narcís Ridao, Pere Ribas, David Vallicrosa, Guillem Computer Vision and Robotics Research Institute Scientific and Technological Park of the University of Girona CIRS Building C/Pic de Peguera Girona CataloniaCO 17071 Spain

ISBN: (纸本)9783902823625

While commercially available autonomous underwater vehicles (AUVs) are routinely used in survey missions, a new set of applications exist demanding intervention capabilities. This is the case, for instance, of the maintenance of permanent underwater observatories or submerged oil wells. These tasks, currently undertaken by remotely operated vehicles (ROVs), can be automated using intervention AUVs (I-AUVs) reducing their complexity and costs. The TRITON spanish funded project proposes the use of light I-AUV for autonomous intervention tasks, such as valve turning or connector pluging/unpluging, in adapted sub-sea infrastructures. To this aim, this paper presents the design and implementation of an I-AUV-friendly sub-sea docking panel, as well as the vision-based autonomous docking procedure for the Girona 500 lightweight I-AUV. The panel implements a funnel-based docking method for passive accommodation. It also includes a T valve and a custom designed hot stab connector. Once docked, the I-AUV and the panel become rigid and basic fixed-base manipulation strategies can be used for manipulation. © IFAC.

关键词： Autonomous underwater vehicles

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROSCIENCE 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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BALANCED OPTICAL FLOW REFINEMENT BY BIDIRECTIONAL CONSTRAINT

BALANCED OPTICAL FLOW REFINEMENT BY BIDIRECTIONAL CONSTRAINT

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IEEE International Conference on Image Processing

作者： Jongwon Choi Hyeongwoo Kim Tae-Hyun Oh In So Kweon Robotics and Computer Vision Laboratory Korea Advanced Institute of Science and Technology

ISBN: (纸本)9781479957521

We present an efficient optical flow refinement approach based on a bidirectional flow consistency. Our method is an add-on component that improves the existing optical flow estimation to be balanced between forward and backward flows. Most of the state-of-the-art optical flow methods only consider unidirectional motion vectors from a source image to a target image, which can make the estimated flow inconsistent with its backward estimation. The inconsistency can be reduced by considering the bidirectional motion when the optical flow is estimated, but it would be very hard for most of the typical optical flow methods and impossible for some of them. To solve this problem, we propose a sampling-based optimization method for efficiently refining the optical flows with a bidirectional constraint. By evaluating on Middlebury benchmark and public large displacement datasets, we validate the effectiveness of our method quantitatively and qualitatively and for accuracy.

关键词： Optical flow Bidirectional constraint Particle filter-based optimization

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