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IEEE Symposium on Intelligent Vehicle

作者： Luciano Oliveira Urbano Nunes Intelligent Vision Research Laboratory Federal University Bahia Brazil Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

The most standard image object detectors are usually comprised of one or multiple feature extractors or classifiers within a sliding window framework. Nevertheless, this type of approach has demonstrated a very limited performance under datasets of cluttered scenes and real life situations. To tackle these issues, LIDAR space is exploited here in order to detect 2D objects in 3D space, avoiding all the inherent problems of regular sliding window techniques. Additionally, we propose a relational parts-based pedestrian detection in a probabilistic non-iid framework. With the proposed framework, we have achieved state-of-the-art performance in a pedestrian dataset gathered in a challenging urban scenario. The proposed system demonstrated superior performance in comparison with pure sliding-window-based image detectors.

关键词： Detectors Laser radar Feature extraction Support vector machines Training Probabilistic logic Vectors

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Path planning with Multiple Rapidly-exploring Random Trees for teams of robots

Path planning with Multiple Rapidly-exploring Random Trees f...

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International Conference on Advanced robotics (ICAR)

作者： Armando Alves Neto Douglas Macharet Luiz Chaimowicz Mario Campos Telecommunication and Mechatronic Department Universidade Federal de São João Del-rei Campus Alto Paraopeba Brazil Computer Vision and Robotics Laboratory Computer Science Department Universidade Federal de Minas Gerais Brazil

This paper addresses the problem of real-time planning and control of a group of aerial vehicles flying in environments with obstacles and subject to disturbances and *** present a novel methodology to the coordination of multiple vehicles based on a classical technique known as Closed Loop Rapidly-exploring Random Trees (CL-RRT). We use a distributed processing framework and communication to optimize the plans being executed by each agent of the team, providing better solutions to the execution step of the CL-RRT. This technique endows each agent with the capability to navigate through the environment while avoiding collisions with obstacles as well as with other team agents. The keypoint is a prediction scheme executed by each robot that infers the behavior of the entire team at each time step. We show the applicability of the method by planning and executing waypoint navigation tasks for a group of Micro Unmanned Aerial Vehicles (MUAVs) - modelled in SE(3) - in outdoor environments.

关键词： Robot kinematics Planning Vehicles Collision avoidance Mathematical model Vectors

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A comprehensive analysis of human motion capture data for action recognition

A comprehensive analysis of human motion capture data for ac...

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International Conference on computer vision Theory and Applications, VISAPP 2012

作者： Ntouskos, Valsamis Papadakis, Panagiotis Pirri, Fiora Department of Computer and System Sciences Vision Perception and Cognitive Robotics Laboratory University of Rome la Sapienza Rome Italy

ISBN: (纸本)9789898565037

In this paper, we present an analysis of human motion that can assist the recognition of human actions irrespective of the selection of particular features. We begin with an analysis on the entire set of preclassified motions in order to derive the generic characteristics of articulated human motion and complement the analysis by a more detailed inter-class analysis. The statistical analysis concerns features that describe the significancecontribution of the human joints in performing an action. Furthermore, we adopt a hierarchical analysis on the human body itself in the study of different actions, by grouping joints that share common characteristics. We present our experiments on standard databases for human motion capture data as well as a new commercial dataset with additional classes of human motion and highlight certain interesting results.

关键词： Motion analysis

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Efficient Target Visiting Path Planning for Multiple Vehicles with Bounded Curvature

Efficient Target Visiting Path Planning for Multiple Vehicle...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Douglas G. Macharet Armando Alves Neto Vilar F. da Camara Neto Mario F. M. Campos Computer Vision and Robotics Laboratory (VeRLab) Computer Science Department Universidade Federal de Minas Gerais MG Brazil. Telecommunication and Mechatronic Department Universidade Federal de S?o Jo?o del-Rei MG Brazil. Funda??o Centro de Análise Pesquisa e Inova??o Tecnológica (FUCAPI) Manaus AM Brazil.

ISBN: (纸本)9781467363563

In this paper, we introduce the k-Dubins Traveling Salesman Problem with Neighborhoods (k-DTSPN), the problem of planning efficient paths among target regions for multiple robots with bounded curvature constraints (Dubins vehicles). This paper presents two approaches for the problem. Firstly, we present a heuristic that solves it in two steps, based on classical techniques found in the literature. Secondly, we employ a Memetic Algorithm to solve both combinatorial and continuous phases of the problem in a combined manner. We provide formal analysis about both proposed techniques, presenting upper bounds to the length of the longest tour. Numerous trials in simulated environments were executed, providing statistical examination of the final results.

关键词： Bounded Curvature k-DTSPN bounded curvature constraints (Dubins vehicles) Cooperating robots vehicle formal analysis Curvature Bounded Path planning Upper bound Heuristics Targets travelling salesman problems

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Constraint-free topological mapping and path planning by maxima detection of the kernel spatial clearance density

Constraint-free topological mapping and path planning by max...

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1st International Conference on Pattern Recognition Applications and Methods, ICPRAM 2012

作者： Papadakis, Panagiotis Gianni, Mario Pizzoli, Matia Pirri, Fiora Department of Computer and System Sciences ALCOR Vision Perception and Cognitive Robotics Laboratory University of Rome La Sapienza Rome Italy

ISBN: (纸本)9789898425980

Asserting the inherent topology of the environment perceived by a robot is a key prerequisite of high-level decision making. This is achieved through the construction of a concise representation of the environment that endows a robot with the ability to operate in a coarse-to-fine strategy. In this paper, we propose a novel topological segmentation method of generic metric maps operating concurrently as a path-planning algorithm. First, we apply a Gaussian Distance Transform on the map that weighs points belonging to free space according to the proximity of the surrounding free area in a noise resilient mode. We define a region as the set of all the points that locally converge to a common point of maximum space clearance and employ a weighed meanshift gradient ascent onto the kernel space clearance density in order to detect the maxima that characterize the regions. The spatial intra-connectivity of each cluster is ensured by allowing only for linearly unobstructed mean-shifts which in parallel serves as a path-planning algorithm by concatenating the consecutive mean-shift vectors of the convergence paths. Experiments on structured and unstructured environments demonstrate the effectiveness and potential of the proposed approach.

关键词： Motion planning

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REAL-TIME MOTION DETECTION BASED ON DISCRETE COSINE TRANSFORM

REAL-TIME MOTION DETECTION BASED ON DISCRETE COSINE TRANSFOR...

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IEEE International Conference on Image Processing

作者： Tae-Hyun Oh Joon-Young Lee In So Kweon Robotics and Computer Vision Laboratory KAIST South Korea

We present a motion detection algorithm by a change detection filter matrix derived from Discrete Cosine Transform. Recently, a Fourier reconstruction scheme shows good results for motion detection. However, its computational cost is a major drawback. We revisit the problem and achieve two orders of magnitude faster than the previous algorithm with better performance. The proposed algorithm runs at about 800 frames per second for VGA resolution images on a consumer hardware by using only integer matrix multiplication and the symmetric property of the change detection filter matrix. In addition, our algorithm is fundamentally robust to sudden illumination changes because it works based on edge information. We verify our algorithm with challenging datasets that contain strong and sudden illumination changes.

关键词： Discrete cosine transforms Motion detection Lighting Vectors Change detection algorithms Robustness Algorithm design and analysis

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Rapid shallow coastal coral reef mapping using the teardrop system

Rapid shallow coastal coral reef mapping using the teardrop ...

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OCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean

作者： Corpuz, Francis James Naval Jr., Prospero Capili, Eusebio Jauod, Jaylord Judilla, Roel John Soriano, Maricor Vision and Image Processing Group National Institute of Physics University of the Philippines Diliman Quezon City Philippines Computer Vision and Machine Intelligence Group Department of Computer Science University of the Philippines Diliman Quezon City Philippines Mapua Robotics Center Institutional Laboratory Mgmt Office Mapua Institute of Technology Intramuros Manila Philippines

ISBN: (纸本)9781467308298

We present a rapid shallow coastal reef mapping system using a previously developed inexpensive diver less video capture system coupled with a fast-image mosaicking technique, using an affordable GPS logging device. The system replaces the traditional manta tow system of assessing and monitoring large areas of coastal coral reefs and at the same time provides historical visual record for future references. The system utilizes Teardrop, a hollow, teardrop-shaped that houses a commercial underwater point-and-shoot camera. The camera is set to video mode and captures video of the reef while the Teardrop is being towed by a wooden fishing boat. The resulting video is parsed into frames and mosaicked by using fast image labeling. The approximate location of the mosaicked images is recorded by using an inexpensive GPS logger. The coordinates are embedded on the mosaicked images and overlaid on mapping software such as Google Earth for visual record and spatial information integration. The same points are used to compute for the total distance covered by the capturing process. The whole process from coral reef video capture to mosaicking the images and finally embedding the mosaics in mapping software can be done in as short as 1 day, providing coastal managers and local government units with a tool to rapidly visualize and monitor shallow coral reefs. © 2012 IEEE.

关键词： Mapping

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Planning for Simultaneous Localization and Mapping Using Topological Information

Planning for Simultaneous Localization and Mapping Using Top...

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IEEE Latin American robotics Symposium, LARS

作者： Rafael Gonçalves Colares Luiz Chaimowicz Vision and Robotics Laboratory (VeRLab) Computer Science Department Federal University of Minas Gerais Brazil

This paper presents a novel approach for augmenting simultaneous localization and mapping (SLAM) with planning. We use dynamically generated topological maps in conjunction with a utility function to decide which actions the robot should perform in order to improve mapping efficiency. We execute a series of simulated and real experiments in order to study the performance of the proposed approach and results show a significant improvement of mapping efficiency.

关键词： Navigation Simultaneous localization and mapping Robot kinematics Planning Skeleton

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Mobile Robot Localization in Indoor Environments Using Multiple Wireless Technologies

Mobile Robot Localization in Indoor Environments Using Multi...

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IEEE Latin American robotics Symposium, LARS

作者： Moisés Lisboa Rodrigues Luiz Filipe M. Vieira Mario F. M. Campos Vision and Robotics Laboratory (VerLab) Computer Science Department Universidade Federal de Minas Gerais Brazil

Localization is a fundamental problem that arises in many potential applications. The use of wireless technologies to perform localization has been a trend in recent years. Most existing approaches use the received signal strength indication (RSSI) to localize. In general, one of the several existing wireless standards such as ZigBee, Bluetooth or Wi-Fi, is chosen as the target standard. In this paper we present an experimental study on the use of multiple wireless technologies to perform mobile robot localization in indoor environments. We use real ZigBee and Wi-Fi compliant devices. In our study we analyse results obtained by fusing robot odometry data with distance estimations between the robot and wireless beacons. These distances are estimated based on the RSSI obtained from radio frequency (RF) signals received from those technologies compliant devices. The extended kalman filter (EKF) is used to fuse these information. We show that robots equipped with multiple wireless interfaces from different technologies can achieve better localization in regions where the coverage of one technology is reduced (e.g., we show that the robot can maintain a reasonable localization accuracy even in areas where Wi-Fi coverage is very poor, due to the presence of Zigbee sensor nodes). We also present a discussion of advantages and challenges of using multiple wireless technologies to perform localization in indoor environments.

关键词： IEEE 802.11 Standards Wireless communication Wireless sensor networks Robot sensing systems Zigbee Mathematical model

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Navigation of uncertain terrain by fusion of information from real and synthetic imagery

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Proceedings of SPIE - The International Society for Optical Engineering 2012年 8407卷

作者： Lyons, Damian M. Nirmal, Paramesh Paul Benjamin, D. Fordham University Robotics and Computer Vision Laboratory Bronx NY 10458 United States Pace University Department of Computer Science New York NY 10023 United States

ISBN: (纸本)9780819490858

We consider the scenario where an autonomous platform that is searching or traversing a building may observe unstable masonry or may need to travel over unstable rubble. A purely behaviour-based system may handle these challenges but produce behaviour that works against long-terms goals such as reaching a victim as quickly as possible. We extend our work on ADAPT, a cognitive robotics architecture that incorporates 3D simulation and image fusion, to allow the robot to predict the behaviour of physical phenomena, such as falling masonry, and take actions consonant with long-term goals. We experimentally evaluate a cognitive only and reactive only approach to traversing a building filled with various numbers of challenges and compare their performance. The reactive only approach succeeds only 38% of the time, while the cognitive only approach succeeds 100% of the time. While the cognitive only approach produces very impressive behaviour, our results indicate how much better the combination of cognitive and behaviour-based can be. © 2012 SPIE.

关键词： Robots

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