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Global alignment of a multiple-robot photomosaic using opto-acoustic constraints 4

Global alignment of a multiple-robot photomosaic using opto-...

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4th IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2015

作者： Campos, Ricard Gracias, Nuno Palomer, Albert Ridao, Pere Computer Vision and Robotics Group University of Girona Spain

Distributing the mapping problem over several vehicles provides the ability to survey an area in fewer time than with a single one. However, the communications required to maintain the vehicles in formation underwater are highly complex. We present a global alignment method for multi-AUV trajectory optimization. We take advantage of the acoustic messages passed between vehicles as well as of the further constraints posed by optical matches between images in some of the vehicles in the formation, both within a single robot and from different ones. By merging all these constraints, we can obtain both an optical georeferenced mosaic of the surveyed area and a joint optimization of the poses of the vehicles in the formation at each time. We present and discuss an application of the method on a real dataset collected within the MORPH EU-FP7 project. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Mapping

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Real-time monocular obstacle avoidance using underwater dark channel prior

Real-time monocular obstacle avoidance using underwater dark...

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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016

作者： Drews, Paulo Hernández, Emili Elfes, Alberto Nascimento, Erickson R. Campos, Mario Autonomous Systems Laboratory Data61-CSIRO Brisbane Australia Computer Vision and Robotics Laboratory Dep. de Ciência da Computação Univ. Federal de Minas Gerais - UFMG Belo Horizonte Brazil NAUTEC Intelligent Robotics and Automation Group Univ. Federal do Rio Grande - FURG Rio Grande Brazil

ISBN: (纸本)9781509037629

In this paper we propose a new vision-based obstacle avoidance strategy using the Underwater Dark Channel Prior (UDCP) that can be applied to any Unmanned Underwater Vehicle (UUV) equipped with a simple monocular camera and minimal on-board processing capabilities. For each incoming image, our method first computes a relative depth map to estimate the obstacles nearby. Then, the map is segmented and the most promising Region of Interest (RoI) is identified. Finally, an escape direction is computed within the RoI and a control action is performed accordingly to avoid the obstacles. We tested our approach on a video sequence in a natural environment and compared it against a stateofthe-art method showing better performance, specially in light changing conditions. We also provide online results on a low-cost Remotely Operated Vehicle (ROV) in a controlled environment. © 2016 IEEE.

关键词： Remotely operated vehicles

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A flexible and dynamic mission planning architecture for UAV swarm coordination

A flexible and dynamic mission planning architecture for UAV...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Carlos Sampedro Hriday Bavle Jose Luis Sanchez-Lopez Ramon A. Suárez Fernández Alejandro Rodríguez-Ramos Martin Molina Pascual Campoy Computer Vision Group Center for Automation and Robotics (UPM-CSIC) Madrid Spain Department of Artificial Intelligence Technical University of Madrid (UPM) Spain

ISBN: (纸本)9781467393355

In this paper a scalable and flexible Architecture for real-time mission planning and dynamic agent-to-task assignment for a swarm of Unmanned Aerial Vehicles (UAV) is presented. The proposed mission planning architecture consists of a Global Mission Planner (GMP) which is responsible of assigning and monitoring different high-level missions through an Agent Mission Planner (AMP), which is in charge of providing and monitoring each task of the mission to each UAV in the swarm. The objective of the proposed architecture is to carry out high-level missions such as autonomous multi-agent exploration, automatic target detection and recognition, search and rescue, and other different missions with the ability of dynamically re-adapt the mission in real-time. The proposed architecture has been evaluated in simulation and real indoor flights demonstrating its robustness in different scenarios and its flexibility for real-time mission re-planning and dynamic agent-to-task assignment.

关键词： computer architecture Planning Robot kinematics Monitoring Real-time systems Trajectory

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Model predictive position/force control of an anthropomorphic robotic arm

Model predictive position/force control of an anthropomorphi...

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2015 IEEE International Conference on Industrial Technology, ICIT 2015

作者： De La Casa Cardenas, J. Garcia, A. Sanchez Martinez, S. Satorres Garcia, J. Gamez Ortega, J. Gomez Group of Robotics Automation and Computer Vision University of Jaén Germany

ISBN: (纸本)9781479978007

When a robotic manipulator executes a task in restricted and unknown environments, it is necessary to implement a position/force control in free space and constrained space. In classic controllers, position/force control may be carried out by means a controller switching, once the contact point has been reached. In this paper, a new position/force predictive controller for an anthropomorphic robotic arm is proposed. This work proposes an unique control law for controlling both variables (position or force). In a model predictive framework, where several goals have to be reached, it is known that cost function includes several parameters (weights) whose modification allows to prioritize goals to achieve. This fact has been taken into account to set up the controller. The proposed control law is validated by experiments involving a 7-dof anthropomorphic robotic arm executing a trajectory tracking task in a restricted environment. As experimental results show, it is possible to control position and force by adjusting controller weights. © 2015 IEEE.

关键词： Robotic arms

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Improving multi-view object recognition by detecting changes in point clouds

Improving multi-view object recognition by detecting changes...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Martin Velas Thomas Fäulhammer Michal Spanel Michael Zillich Markus Vincze Department of Computer Graphics and Multimedia Brno University of Technology Czech Republic Vision4Robotics group (ACIN) Vienna University of Technology Austria

This paper proposes the use of change detection in a multi-view object recognition system in order to improve its flexibility and effectiveness in dynamic environments. Multi-view recognition approaches are essential to overcome problems related to clutter, occlusion or camera noise, but the existing systems usually assume a static environment. The presence of dynamic objects raises another issue - the inconsistencies introduced to the internal scene model. We show that by incorporating the change detection and correction of the inherent scene inconsistencies, we reduce false positive detections by 70% in average for moving objects when tested on the publicly available TUW dataset. To reduce time required for verifying a large set of accumulated object pose hypotheses, we further integrate a clustering approach into the original multi-view object recognition system and show that this reduces computation time by 16%.

关键词： Three-dimensional displays Object recognition Feature extraction Cameras Computational modeling Sensors Pipelines

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Natural User Interfaces for Human-Drone Multi-Modal Interaction

Natural User Interfaces for Human-Drone Multi-Modal Interact...

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International Conference on Unmanned Aircraft Systems

作者： Ramón A. Suárez Fernández Jose Luis Sanchez-Lopez Carlos Sampedro Hriday Bavle Martin Molina Pascual Campoy Computer Vision Group Centre for Automation and Robotics CSIC-UPM (Spain)

ISBN: (纸本)9781467393355

Personal drones are becoming part of every day life. To fully integrate them into society, it is crucial to design safe and intuitive ways to interact with these aerial systems. The recent advances on User-Centered Design (UCD) applied to Natural User Interfaces (NUIs) intend to make use of human innate features, such as speech, gestures and vision to interact with technology in the way humans would with one another. In this paper, a Graphical User Interface (GUI) and several NUI methods are studied and implemented, along with computer vision techniques, in a single software framework for aerial robotics called Aerostack which allows for intuitive and natural human-quadrotor interaction in indoor GPS-denied environments. These strategies include speech, body position, hand gesture and visual marker interactions used to directly command tasks to the drone. The NUIs presented are based on devices like the Leap Motion Controller, microphones and small size monocular on-board cameras which are unnoticeable to the user. Thanks to this UCD perspective, the users can choose the most intuitive and effective type of interaction for their application. Additionally, the strategies proposed allow for multi-modal interaction between multiple users and the drone by being able to integrate several of these interfaces in one single application as is shown in various real flight experiments performed with non-expert users.

关键词： UCD Natural User

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A real-time supervised learning approach for sky segmentation onboard unmanned aerial vehicles

A real-time supervised learning approach for sky segmentatio...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Adrian Carrio Carlos Sampedro Changhong Fu Jean-François Collumeau Pascual Campoy Computer Vision Group Center for Automation and Robotics (UPM-CSIC) Madrid Spain School of Mechanical and Aerospace Engineering and ST Engineering-NTU Corp Laboratory Nanyang Technological University Singapore

vision-based sky segmentation and horizon line detection can be extremely useful to perform important tasks onboard Unmanned Aerial Vehicles (UAVs), such as pose estimation and collision avoidance. Most of the existing vision-based solutions use traditional image processing methods to identify the horizon line. This results in good overall accuracy and fast computation times. However, difficult environmental conditions such as a foggy or cloudy skies hinder correct sky segmentation. This paper proposes a solution for sky segmentation in RGB images using a supervised Machine Learning approach by first splitting the image into fixed-size patches, extracting and classifying color descriptors for each patch and performing a final post-processing stage to improve segmentation quality. A method for automatic horizon line detection is also proposed. The performance of our approach was evaluated on flight images captured onboard UAVs, achieving performance accuracies above 93% at real-time frame rates.

关键词： Image color analysis Image segmentation Aircraft Image edge detection Histograms Real-time systems Unmanned aerial vehicles

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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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2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015

作者： Sanchez-Lopez, Jose Luis Pestana, Jesus Collumeau, Jean-Franois Suarez-Fernandez, Ramon Campoy, Pascual Molina, Martin Computer Vision Group Centre for Automation and Robotics CSICUPM Spain Aerial Vision Group Graz University of Technology - TUGraz Austria Mekelweg Netherlands Spain

ISBN: (纸本)9781479960101

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. © 2015 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Rapid quantification of total polyphenol content in EVOO using NIR sensor with wavelength selection and FS-MLR 12

Rapid quantification of total polyphenol content in EVOO usi...

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12th IEEE International Conference on Imaging Systems and Techniques, IST 2015

作者： Martínez Gila, D.M. Beltrán Ortega, J. Gámez García, J.G. Gómez Ortega, J. Robotics Automation and Computer Vision Group University of Jaen Campus Las Lagunillas s/n JaenES-23071 Spain

ISBN: (纸本)9781479986330

Olive oil quality is regulated by an European normative, and according to different chemical and organoleptic markers the olive oil can be labelled as lampante, virgin or extra virgin olive oil (EVOO), being the last the top-quality one. Since these parameters determine mainly the olive oil chemical stability, in the last years different works have studied the favourable influence of others olive oil minor components on the human health. Polyphenols are one of these minor components. This research has been carried out to study the correlation between the polyphenols contained into EVOO and its spectral response in the near infrared. The selection of the best correlated spectral wavelengths could be the first step to build a rapid and low-cost NIR sensor to be set up into the elaboration process in order to control the presence of these components. During the process, several olive oil variables such as temperature, humidity, turbidity.. could affect to the NIR response. In this sense, this work has studied the influence of the olive oil turbidity on the error of polyphenol content prediction. For this study 63 olive oil samples obtained from an olive oil mill have been employed and the reference values were obtained by an external laboratory with chemical analysis. Spectra were filtered with an ANOVA analysis and the best correlated band was identified between 1690 and 1870 nm. The regression algorithm FSMLR was used and it got a RMSECV of 75 ppm, the R2 coefficient was 0.94 and the RPD value was 4.76. The results get worse when samples with different turbidity indexes were used. © 2015 IEEE.

关键词： Olive oil

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Automatic determination of peroxides and acidity of olive oil using machine vision in olive fruits before milling process 12

Automatic determination of peroxides and acidity of olive oi...

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12th IEEE International Conference on Imaging Systems and Techniques, IST 2015

作者： Morene, O. Cáceres Gila, D. M. Martínez Puerto, D. Aguilera García, J. Gámez Ortega, J. Gómez ES-23600 Spain Robotics Automation and Computer Vision Group University of Jaén Campus Las Lagunillas S/n JaénES-23071 Spain

ISBN: (纸本)9781479986330

Ones of the most important parameters to measure of olive oil quality are acidity and peroxide index and, currently, they are measured in a laboratory using samples of olives extracted from a batch in the reception process. The aim of this work is to provide an automatic inspection system, based on computer vision-visible and infrared (IR) channels-, to infer automatically these parameters. The proposal uses the differences in superficial textures, the defects in IR pictures and a color estimation in CIELab. Furthermore, a different image preprocessing has been employed and an Artificial Neural Networks have been used as estimation technique. The system has reached good estimation results with R=96.3 in acidity and R=93.9 in peroxide index. © 2015 IEEE.

关键词： computer vision

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