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3D Object Tracking using RGB and LIDAR Data

3D Object Tracking using RGB and LIDAR Data

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IEEE International Conference on Intelligent Transportation systems

作者： Alireza Asvadi Pedro Girao Paulo Peixoto Urbano Nunes Institute of Systems and Robotics (ISR) Department of Electrical and Computer Engineering (DEEC) University of Coimbra

ISBN: (纸本)9781509018901

Object tracking is one of the key components of the perception system of autonomous cars and ADASs. With tracking, an ego-vehicle can make a prediction about the location of surrounding objects in the next time epoch and plan for next actions. Object tracking algorithms typically rely on sensory data (from RGB cameras or LIDAR). In fact, the integration of 2D-RGB camera images and 3D-LIDAR data can provide some distinct benefits. This paper proposes a 3D object tracking algorithm using a 3D-LIDAR, an RGB camera and INS (GPS/IMU) sensors data by analyzing sequential 2D-RGB, 3D point-cloud, and the ego-vehicle's localization data and outputs the trajectory of the tracked object, an estimation of its current velocity, and its predicted location in the 3D world coordinate system in the next time-step. Tracking starts with a known initial 3D bounding box for the object. Two parallel mean-shift algorithms are applied for object detection and localization in the 2D image and 3D point-cloud, followed by a robust 2D/3D Kalman filter based fusion and tracking. Reported results, from both quantitative and qualitative experiments using the KITTI database demonstrate the applicability and efficiency of the proposed approach in driving environments.

关键词： red-green-blue colour model Lidar two dimentional images Cameras Current velocity Object detection Three Dimensions tracking objects

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Simultaneous Localization and Map Building by Integrating a Cache of Features

Simultaneous Localization and Map Building by Integrating a ...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Jorge Costa Filipe Dias Rui Araujo ISR-Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

Localization is an important problem in autonomous mobile robots navigation. To solve this problem, robots must also be able to learn, maintain and update models of their environments. This paper describes a full implementation of a simultaneous localization and map building (SLAM) method. SLAM is the problem of an autonomous vehicle starting at an unknown position which then incrementally builds a world map and estimates the robot absolute pose according to the map. An extended Kalman filter (EKF) is used for estimation and data fusion. For perception, the method combines an adaptive break point detector, first and second order analysis, and the RANSAC algorithm for robust fitting of laser scan data in order to extract a model composed of line segments and their uncertainty. A dynamic cache is proposed and introduced in the world model in order to speedup the map search in the measurement prediction and feature matching phases of SLAM. Experimental results of simulation and real-robot experiments with a Nomad 200 are presented demonstrating the effectiveness of the SLAM methods and improvements attained with the cache of feature method.

关键词： Simultaneous localization and mapping Mobile robots Navigation Remotely operated vehicles Algorithm design and analysis Robustness Laser fusion Laser modes Data mining Vehicle dynamics

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Genetically Optimized Extreme Learning Machine

Genetically Optimized Extreme Learning Machine

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IEEE Conference on Emerging Technologies & Factory Automation

作者： Tiago Matias Rui Araújo Carlos Henggeler Antunes Dulce Gabriel Institute of Systems and Robotics (ISR-UC) Department of Electrical and Computer Engineering (DEEC-UC)

ISBN: (纸本)9781479908639

This paper proposes a learning algorithm for singlehidden layer feedforward neural networks (SLFN) called genetically optimized extreme learning machine (GO-ELM). In the GO-ELM, the structure and the parameters of the SLFN are optimized by a genetic algorithm (GA). The output weights, like in the batch ELM, are obtained by a least squares algorithm, but using Tikhonov's regularization in order to improve the SLFN performance in the presence of noisy data. The GA is used to tune the set of input variables, the hidden-layer configuration and bias, the input weights and the Tikhonov's regularization factor. The proposed method was applied and compared with four other methods over five benchmark problems available in a public repository. Besides it was applied in the estimation of the temperature at the burning zone of a real cement kiln plant.

关键词： SLFN input weights real cement kiln plant

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An Extended Kalman Filter for frequent local and infrequent global sensor data fusion

An Extended Kalman Filter for frequent local and infrequent ...

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Conference on Sensor Fusion and Decentralized Control in Autonomous Robotic systems

作者： Roumeliotis, SI Bekey, GA Department of Electrical Engineering Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)0819426415

In this paper we compare the performance of a dead-reckoning system for robot navigation to a system using an Extended Kalman Filter (EKF). Dead-reckoning systems are able to approximate position and orientation by feeding data (provided usually by local sensors) to the kinematic model of the vehicle. These systems are subject to many different sources of error. EKFs have the ability to combine the same information and compensate for most of these errors to yield a better estimate. Our simulation results using a simplified kinematic model of Rocky 7 (an experimental rover used in the Mars exploration program at Jet Propulsion Laboratory (JPL)) show that an improvement in performance up to 40% (position error) can be achieved. The local sensors used are: wheel encoders, steering angle potentiometer and gyroscope. Involvement of global sensor measurements can drastically increase the accuracy of the estimate. The lack of GPS or magnetic field on Mars narrows our choices for global localization. Landmarks, such as the sun can be used as natural beacons (reference point for absolute measurements). A sun sensor (SS) that measures the absolute orientation of the rover has been built by Lockheed Martin and now is part of the sensor suite of Rocky 7. The SS measurement is crucial for the estimation filter and we show that the accuracy of the estimation decreases exponentially as the frequency of the SS data fed to the EKF decreases.

关键词： robot localization sun sensor Extended Kalman Filter

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Nonlinear trajectory tracking control of a quadrotor vehicle 10

Nonlinear trajectory tracking control of a quadrotor vehicle

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2009 10th European Control Conference, ECC 2009

作者： Cunha, Rita Cabecinhas, David Silvestre, Carlos Department of Electrical Engineering and Computer Science Institute for Systems and Robotics Instituto Superior Técnico Lisboa1046-001 Portugal

ISBN: (纸本)9783952417393

This paper addresses the problem of steering a quadrotor vehicle along a time-dependent trajectory. The problem is formulated so as to take into account force disturbances acting on the vehicle and enforce bounds on the actuation. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and torque actuation that i) guarantees asymptotic stability of the closed-loop system in the presence of constant force disturbances and ii) ensures that the actuation does not grow unbounded as a function of the position errors. Simulation results are presented to assess the performance and robustness of the proposed controller. © 2009 EUCA.

关键词： Asymptotic stability

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Evaluation functions for assembly sequence planning

Evaluation functions for assembly sequence planning

引用

Intelligent Robots and computer Vision VII 1988

作者： Sanderson, Arthur C. De Mello, Luiz S. Hornern Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute TroyNY12180 United States Department of Electrical and Computer Engineering Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

Planning robotic manipulation operations is fundamental to the implementation of systems for assembly, disassembly, and repair of space-based equipment. Both teleoperated and fully-autonomous modes of operation will require the representation of feasible operations sequences which accomplish specified tasks. We have developed the AND/OR graph representation of assembly sequences and shown its completeness and correctness for assembly plan representation. The AND/OR graph partitions the state representation in a manner which facilitates local planning decisions. The use of alternative plan representations is coupled to the need for evaluation functions which guide the choice of desirable actions at any given state. In assembly planning, entropy evaluation functions provide a tool for assessment of the complexity of the current state in terms of the available degrees of freedom of motion of parts. Reducing the degrees of freedom of motion of the parts through the introduction of constraints corresponds to a decrease in entropy measures of the assembly. Assembly steps which couple the accuracy of the positioning device to the constraint clearances of the parts are selected using this measure. The entropy evaluation measure may be computed directly from attributes incorporated into a relational description of the parts geometry. The entropy measures must be coupled with other measures of manipulation complexity, availability of tools and fixtures, and speed and cost requirements for the development of general system planning systems. © 1989 SPIE. All rights reserved.

关键词： Entropy

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Rewinding strategy aided by FEA as a solution to increase efficiency of industrial motors 22

Rewinding strategy aided by FEA as a solution to increase ef...

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22nd International Conference on electrical Machines, ICEM 2016

作者： Aguiar, V.P.B. Pontes, R.S.T. Neto, T. R. Fernandes Ferreira, F.J.T.E. Motor Driven Systems Laboratory Department of Electrical Engineering Federal University of Ceará Fortaleza CE60440554 Brazil Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)9781509025381

This paper presents a proper model and methodology to improve the efficiency class of a squirrel-cage induction motor during rewinding. The modeling approach is based on the finite element model, i.e. two-dimensional model coupled with the rotor equivalent circuit (first stage) and the stator equivalent circuit (second stage). Results obtained with finite element analysis are compared with those obtained with analytical calculations. It is demonstrated that, during rewinding, if an improved winding configuration is used, efficiency gains can be obtained, allowing to improve the efficiency class of the motor, from IE2 to IE3, respecting the specified limits of NEMA & IEC performance indicators, namely, breakdown torque, locked-rotor torque, and locked-rotor current. In 79% of the simulated cases the efficiency gain allowed the studied motor to reach the IE3 class. © 2016 IEEE.

关键词： Frequency domain analysis

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Learning variable-resolution maps for navigation in dynamic worlds

Learning variable-resolution maps for navigation in dynamic ...

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Annual Conference of Industrial Electronics Society

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

Map building is an important component to enable autonomous mobile robots to navigate in complex unfamiliar environments. This paper introduces a new method for learning multiresolution maps for navigation in unknown and dynamic worlds. It extends our navigation architecture that integrates a multiresolution grid world model and fuzzy ART based world model. The fuzzy ART world model is composed of a set of rectangular geometric primitives, or features. In a companion paper we introduce a new method for updating the fuzzy ART model in dynamic worlds. In this paper we describe our new navigation architecture that, by integrating the new proposed map building method for dynamic worlds, is able to dynamically not only increase but also decrease local resolution according to variations in the local clutter and complexity of the world. With the new overall navigation architecture the mobile robot is able to cope with, and navigate, in changing worlds. The paper presents experimental results obtained with a Nomad 200 mobile robot that demonstrates the effectiveness of the proposed methods.

关键词： Navigation Mobile robots Spatial resolution Solid modeling Subspace constraints Buildings Extraterrestrial measurements Fuzzy sets Motion-planning Orbital robotics

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Tracking multiple moving objects for mobile robotics navigation

Tracking multiple moving objects for mobile robotics navigat...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： J. Almeida A. Almeida R. Araujo ISR-Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

For mobile vehicle navigation in dynamic environments it is desirable that robots have a model of the dynamic aspects of the world. In this paper we present a method for detection and tracking of multiple moving objects using sensor information. The method uses particle filters to estimate objects states, and sample based joint probabilistic data association filters to perform the assignment of features detected from sensor data to filters. A perception mechanism, based on occupancy grids, is presented to distinguish between mobile features and static objects. Experimental results from a real-time implementation using a laser range sensor are presented demonstrating the feasibility and effectiveness of the presented methods

关键词： Mobile robots Navigation Robot sensing systems Vehicle dynamics Object detection Vehicles Particle filters State estimation computer vision Sensor phenomena and characterization

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A contribution of demand response for the reliability of a power system 16

A contribution of demand response for the reliability of a p...

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16th International Conference on Environment and electrical engineering, EEEIC 2016

作者： Gaspar, Claudia Gomes, Alvaro Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra3030-290 Portugal INESC Coimbra Department of Electrical and Computer Engineering University of Coimbra Coimbra3030-290 Portugal

ISBN: (纸本)9781509023196

Reliability is a crucial issue in modern power systems, being, in simple words, the ability to continuously and efficiently supply loads without neglecting the quality of service while keeping the power grid stable. In general, reliability can be improved by using more reliable components (generators) or by adding redundancy, being this extra generation known as reserves. Insufficient reserve margin may originate instability and severe problems in power systems. Adequacy is related with the provision of sufficient generation resources to meet the demand and the reserves requirements. The higher the redundancy level the higher the costs, thus a trade-off between the reliability degree and the investment requirements is needed. In this work is investigated if controllable demand can be actively used as an alternative to generation units for guaranteeing adequate reliability indices in short term operation of power systems. The goal is assessing the feasibility of using demand side resources-controllable demand-instead of generation for improving the reliability indices. An evolution strategy has been implemented to design adequate control actions, to be applied over end-use loads, and their impacts on the reliability indices have been assessed. The obtained results showed that, when adequately designed, demand control actions can effectively contribute for a more reliable operation of the power system, being an alternative to the redundant generation in short term. © 2016 IEEE.

关键词： Redundancy

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