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 objec...
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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
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. I...
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Mobile robots must be able to build their own maps to navigate in unknown worlds. Expanding a previously proposed method [Rui Araujo et al., April 1999], based on the fuzzy ART neural architecture (FARTNA), this paper...
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Mobile robots must be able to build their own maps to navigate in unknown worlds. Expanding a previously proposed method [Rui Araujo et al., April 1999], based on the fuzzy ART neural architecture (FARTNA), this paper introduces a new on-line method for learning maps of dynamic worlds. For this purpose the Prune-Able fuzzy ART neural architecture (PAFARTNA) is introduced. It extends the FARTNA self-organizing neural network to include the ability to selectively perform the following additional operation on recognition categories: remove, directly update spatial span, or forced create. A method is proposed for the perception of object removals, and then integrated with PAFARTNA. Experimental results obtained with a Nomad 200 robot are presented demonstrating the feasibility and effectiveness of the proposed methods.
There is a growing need for humans to perform complex remote operations and to extend the intelligence and experience of experts to distant applications. Because of the complex nature of the tasks that usually telerob...
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There is a growing need for humans to perform complex remote operations and to extend the intelligence and experience of experts to distant applications. Because of the complex nature of the tasks that usually telerobots perform, centralised control is no longer practical. This motivates the need for an interprocess communication facility. Continuous human operator control in teleoperation has both advantages and disadvantages. The main advantage is that overall task control can rely on human perception, judgement, decision, dexterity, and training. The main disadvantage is that the human operator must cope with a sense of remoteness, be alert of and integrate many information, and coordinate the control of one or two mechanical arms, each having typically six degrees of freedom. A good graphic environment at the local station is needed, to improve the teleoperation tasks. For this reason, computer graphics play an increasingly important role in advanced teleoperation. This paper describes a communication system for a robotic teleoperation environment, how to build a virtual environment of the remote station, and also new scientific visualisation techniques for real time data, using powerful graphical toolkits.
In this paper a spatial interpolation approach, based on polar-grid representation and Kriging predictor, is proposed for 3D point cloud sampling. Discrete grid representation is a widely used technique because of its...
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In this paper a spatial interpolation approach, based on polar-grid representation and Kriging predictor, is proposed for 3D point cloud sampling. Discrete grid representation is a widely used technique because of its simplicity and capacity of providing an efficient and compact representation, allowing subsequent applications such as artificial perception and autonomous navigation. Two-dimensional occupancy grid representations have been studied extensively in the past two decades, and recently 2.5D and 3D grid-based approaches dominate current applications. A key challenge in perception systems for vehicular applications is to balance low computational complexity and reliable data interpretation. To this end, this paper contributes with a discrete 2.5D polar-grid that upsamples the input data, ie sparse 3D point cloud, by means of a deformable kriging-based interpolation strategy. Experiments carried out on the KITTI dataset, using data from a LIDAR, demonstrate that the approach proposed in this work allows a proper representation of urban environments.
This paper presents design and development of a six legged robot with a total of 12 degrees of freedom, two in each limb and then an implementation of 'obstacle and undulated terrain-based' probabilistic roadm...
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This paper presents design and development of a six legged robot with a total of 12 degrees of freedom, two in each limb and then an implementation of 'obstacle and undulated terrain-based' probabilistic roadmap method for motion planning of this hexaped which is able to negotiate large undulations as obstacles. The novelty in this implementation is that, it doesnt require the complete view of the robot's configuration space at any given time during the traversal. It generates a map of the area that is in visibility range and finds the best suitable point in that field of view to make it as the next node of the algorithm. A particular category of undulations which are small enough are automatically 'runover' as a part of the terrain and not considered as obstacles. The traversal between the nodes is optimized by taking the shortest path and the most optimum gait at that instance which the hexaped can assume. This is again a novel approach to have a real time gait changing technique to optimize the travel time. The hexaped limb can swing in the robot's X-Y plane and the lower link of the limb can move in robot's Z plane by an implementation of a four-bar mechanism. A GUI based server 'Yellow Ladybird' eventually which is the name of the hexaped, is made for real time monitoring and communicating to it the final destination co-ordinates.
The design and implementation of flexible manufacturing systems require the planning of task requirements to meet standards of reliability, cost, and throughput over a family of products. Tools for computer-aided engi...
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The ability of an intelligent system to recognize the user's emotional and mental states is of considerable interest for human-robot interaction and human-machine interfaces. This paper describes an automatic reco...
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ISBN:
(纸本)9789897580697
The ability of an intelligent system to recognize the user's emotional and mental states is of considerable interest for human-robot interaction and human-machine interfaces. This paper describes an automatic recognizer of the facial expression around the eyes and forehead based on electrooculographic (EOG) signals. Six movements of the eyes, namely, up, down, right, left, blink and frown, are detected and reproduced in an avatar, aiming to analyze how they can contribute for the characterization of facial expression. The recognition algorithm extracts time and frequency domain features from EOG, which are then classified in real-time by a multiclass LDA classifier. The offline and online classification results showed a sensitivity around 92% and 85%, respectively.
Facial action unit (AU) detectors have performed well when trained and tested within the same domain. How well do AU detectors transfer to domains in which they have not been trained? We review literature on cross-dom...
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Vergence ability is an important visual behavior observed on living creatures when they use vision to interact with the environment. The notion of active observer is equally useful for robotic vision systems on tasks ...
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ISBN:
(纸本)9789898425478
Vergence ability is an important visual behavior observed on living creatures when they use vision to interact with the environment. The notion of active observer is equally useful for robotic vision systems on tasks like object tracking, fixation and 3D environment structure recovery. Humanoid robotics are a potential playground for such behaviors. This paper describes the implementation of a real time binocular vergence behavior using cepstral filtering to estimate stereo disparities. By implementing the cepstral filter on a graphics processing unit (GPU) using Compute Unified Device Architecture (CUDA) we demonstrate that robust parallel algorithms that used to require dedicated hardware are now available on common computers. The cepstral filtering algorithm speed up is more than sixteen times than on a current CPU. The overall system is implemented in the binocular vision system IMPEP (IMPEP Integrated Multimodal Perception Experimental Platform) to illustrate the system performance experimentally.
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