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Sensor fusion for skill transfer systems

Sensor fusion for skill transfer systems

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： R. Cortesao R. Koeppe Electrical Engineering Department Institute of Systems and Robotics (ISR) University of Coimbra Coimbra Portugal German AeroSpace Center (DLR) Institute for Robotics and Systems Dynamics Wessling Germany

Describes how to design a data fusion module for skill transfer purposes. The data fusion paradigm is addressed. It consists of two independent modules for optimal fusion and filtering. A new interpretation of the Kalman filter equations is done, to achieve a "model-free" equation capable of following arbitrary variables. An engineering approach is used to tune the parameters of interest for a certain task. The fusion algorithm presented is global, and could easily be extended to any arbitrary system. It was successfully tested in the institute of robotics and System Dynamics at the DLR.

关键词： Sensor fusion Robot sensing systems Humans Filtering Equations Vehicle dynamics Aerodynamics Sensor systems Intelligent robots Training data

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The mapping of texture on VR polygonal models 2

The mapping of texture on VR polygonal models

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2nd International Conference on 3-D Digital Imaging and Modeling, 3DIM 1999

作者： Laurendeau, Denis Bertrand, Nathalie Houde, Régis Computer Vision and Systems Laboratory Department of Electrical Engineering and Computer Engineering Laval University QuebecQCG1K 7P4 Canada Robotics Division Hydro Quebec Research Institute VarennesQCJ3X 1S1 Canada

ISBN: (纸本)0769500625

The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene. © 1999 IEEE.

关键词： Image texture

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State estimation of an autonomous helicopter using Kalman filtering

State estimation of an autonomous helicopter using Kalman fi...

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Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

作者： Myungsoo Jun S.I. Roumeliotis G.S. Sukhatme Department of Electrical Engineering-Systems USA Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

Presents a technique to accurately estimate the state of a robot helicopter using a combination of gyroscopes, accelerometers, inclinometers and GPS. Simulation results of state estimation of the helicopter are presented using Kalman filtering based on sensor modeling. The number of estimated states of helicopter is nine : three attitudes(/spl theta/,/spl phi/,/spl psi/) from the gyroscopes, three accelerations(x/spl ***/,y/spl ***/,z/spl ***/) and three positions (x, y, z) from the accelerometers. Two Kalman filters were used, one for the gyroscope data and the other for the accelerometer data. Our approach is unique because it explicitly avoids dynamic modeling of the system and allows for can elegant combination of sensor data available at different frequencies. We also describe the larger context in which this work is embedded, namely the design and implementation of an autonomous robot helicopter.

关键词： State estimation Helicopters Kalman filters Gyroscopes Accelerometers Filtering Robot sensing systems Global Positioning System Acceleration Sensor systems

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Redundant actuation for improving kinematic manipulability

Redundant actuation for improving kinematic manipulability

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IEEE International Conference on robotics and Automation (ICRA)

作者： J.F. O'Brien J.T. Wen Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer & Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract external forces in certain directions. By altering the mechanism through, for example, additional kinematic linkages, the singularity can be modified or even removed. Another approach is to actuate certain unactuated degrees of freedom. The manipulability is guaranteed to improve over the original mechanism, but the mechanism is now over-actuated. By studying a recently proposed parallel machining center, we examine the effectiveness of singularity modification through redundant actuation. As a metric, we use the condition number of the recently developed manipulability ellipsoid for general parallel mechanisms.

关键词： Kinematics Parallel robots Ellipsoids Manufacturing automation robotics and automation computer aided manufacturing Manipulators Concurrent computing systems engineering and theory Couplings

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The mapping of texture on VR polygonal models

The mapping of texture on VR polygonal models

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： D. Laurendeau N. Bertrand R. Houde Department of Electrical Engineering and Computer Engineering Computer Vision and Systems Laboratory Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes QUE Canada

关键词： Virtual reality Layout Solid modeling computer vision Color computer graphics Rendering (computer graphics) Cameras Laboratories Data engineering

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Smoother based 3D attitude estimation for mobile robot localization

Smoother based 3D attitude estimation for mobile robot local...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.I. Roumeliotis G.S. Sukhatme G.A. Bekey Department of Electrical Engineering University of Southern California Los Angeles CA USA Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

The mobile robot localization problem is decomposed into two stages; attitude estimation followed by position estimation. The innovation of our method is the use of a smoother, in the attitude estimation loop that outperforms other Kalman filter based techniques in estimate accuracy. The smoother exploits the special nature of the data fused; high frequency inertial sensor (gyroscope) data and low frequency absolute orientation data (from a compass or sun sensor). Two Kalman filters form the smoother. During each time interval one of them propagates the attitude estimate forward in time until it is updated by an absolute orientation sensor. At this time, the second filter propagates the recently renewed estimate back in time. The smoother optimally exploits the limited observability of the system by combining the outcome of the two filters. The system model uses gyro modeling which relies on integrating the kinematic equations to propagate the attitude estimates and obviates the need for complex dynamic modeling. The indirect (error state) form of the Kalman filter is developed for both parts of the smoother. The proposed approach is independent of the robot structure and the morphology of the ground. It can easily be transferred to another robot which has an equivalent set of sensors. Quaternions are used for the 3D attitude representation mainly for practical reasons discussed in the paper. Proposed innovative algorithm is tested in simulation and the overall improvement in position estimation is demonstrated.

关键词： Mobile robots Frequency Sensor fusion Filters Robot sensing systems Technological innovation Gyroscopes Sun Observability Kinematics

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Real-time active visual surveillance by integrating peripheral motion detection with foveated tracking

Real-time active visual surveillance by integrating peripher...

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IEEE Workshop on Visual Surveillance

作者： J. Batista P. Peixoto H. Araujo ISR Institute of Systems and Robotics Department of Electrical Engineering University of Coimbra Portugal

In this paper we describe an active binocular tracking system integrating peripheral motion detection. The system is made up of a binocular active system used to track the objects and a fixed camera providing wide angle images of the environment. The system can cope with changes in lighting conditions by adjusting aperture and focus. Binocular flow enables tracking of nonrigid objects even when partial occlusion occurs.

关键词： Surveillance Motion detection Cameras Application software Target tracking computer vision Image resolution Apertures Focusing Humans

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A surveillance system combining peripheral and foveated motion tracking

A surveillance system combining peripheral and foveated moti...

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International Conference on Pattern Recognition

作者： P. Peixoto J. Batista H. Araujo ISR-Institute of Systems and Robotics Department of Electrical Engineering University of Coimbra Coimbra Portugal

We describe a surveillance system made up of a fixed camera and a binocular active vision system. A fixed camera is used to provide the system with peripheral motion detection capabilities. The binocular active system is used to track in 3D and reconstruct the trajectories of specific targets. Both are fully integrated and the redundancy is exploited to achieve a higher degree of robustness in detecting and tracking intruders.

关键词： Surveillance Cameras Target tracking Machine vision Humans computer vision electrical capacitance tomography Identity-based encryption Robot vision systems Image reconstruction

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Integrating a geometric-primitive map into a multiresolution motion planning approach

Integrating a geometric-primitive map into a multiresolution...

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International Workshop on Advanced Motion Control (AMC)

作者： R. Araujo A.T. de Almeida Institute for Systems and Robotics (ISR) and Electrical Engineering Department University of Coimbra Coimbra Portugal

Presents a method for mobile robot navigation that integrates (1) the fuzzy ART neural architecture for online map-building, into (2) the parti-game learning approach. Using the improved world model, a predictive online trajectory filtering method, is introduced in the learning approach for increasing the effectiveness of robot exploration and planning. This results in an overall powerful method for simultaneous construction of a world model, and learning to navigate from an initial position to a known goal region in an unknown world. It is assumed that the robot knows its own current world location, is able to perform sensor-based obstacle detection (not avoidance), and straight-line motions. Simulation and real-robot navigation results with a Nomad 200 mobile robot are presented. Quantitative results demonstrate (1) the improvements of the navigation approach, and (2) that the constructed world model (original or improved) is general purpose in the sense that its usefulness is not restricted to be used on learning a particular path, but is valuable for learning paths with different (start, goal) pairs.

关键词： Navigation Robot sensing systems Motion planning Trajectory Mobile robots Robot programming Subspace constraints Predictive models Filtering Robot control

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Robot navigation using visual information

Robot navigation using visual information

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Annual Conference of Industrial Electronics Society

作者： I. Fonseca J. Dias ISR-Institute of Systems and Robotics Electrical Engineering Department University of Coimbra Coimbra Portugal

This paper addresses the problem of performing navigation with a mobile robot using active vision exploring the image sphere properties in a stereo divergent configuration. The navigational process is supported by the control of the robot's steering and forward movements just using visual information as feedback. The steering control solution is based on the difference between signals of visual motion flow computed in images on different positions of a virtual image sphere. The majority of solutions based on motion flow and proposed until now, were usually very unstable because they normally compute other parameters from the motion flow. In our case the control is based directly on the difference between motion flow signals on different images. Those multiple images are obtained by small mirrors, that simulate cameras positioned in different positions on the image sphere. Another new version for the spherical sensor is under development. The control algorithm described in this work is based on a discrete-event approach to generate a controlling feedback signal for navigation of an autonomous robot with an active vision system as described.

关键词： Navigation Feedback Motion control Robot vision systems Control systems Mobile robots Robot control Mirrors Computational modeling Cameras

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