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Sensor-based Globally Asymptotically Stable Range-Only Simultaneous Localization and Mapping

Sensor-based Globally Asymptotically Stable Range-Only Simul...

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IEEE Annual Conference on Decision and Control

作者： Pedro Lourenco Pedro Batista Paulo Oliveira Carlos Silvestre C. L. Philip Chen Institute for Systems and Robotics Instituto Superior Tecnico Universidade de Lisboa Av. Rovisco Pais 1049-001 Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology of the University of Macau

ISBN: (纸本)9781467357159

Range-only simultaneous localization and mapping is addressed in this paper, through the design, analysis, and experimental validation of a globally asymptotically stable (GAS) filter. A nonlinear sensor-based system is designed and its dynamics augmented so that the proposed formulation can be considered as linear time-varying for the purpose of observability analysis. This allows the establishment of observability results related to the original nonlinear system that naturally lead to the design of a Kalman filter with GAS error dynamics. The performance of the proposed algorithm is assessed resorting to a set of realistic simulations and to the results obtained from experimental tests.

关键词： design analysis simultaneous localization and mapping Kalman filters asymptotic Observability realistic simulation dynamics Sensor systems gas filters

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Improved SDM-based robot navigation using image processing techniques

Improved SDM-based robot navigation using image processing t...

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2012 World Congress on engineering, WCE 2012

作者： Mendes, Mateus Coimbra, A. Paulo Crisóstomo, Manuel M. ISR - Institute of Systems and Robotics Dept. of Electrical and Computer Engineering University of Coimbra Portugal ESTGOH Polytechnic Institute of Coimbra Portugal

ISBN: (纸本)9789881925213

Intelligent robot navigation is a broad area of research. Vision-based approaches deserve special attention, for being biologically inspired, inexpensive and powerful. However, problems such as illumination changes, scenario changes and noise are difficult to overcome. In previous work the authors developed algorithms to navigate a robot based on sequences of visual memories stored into a Sparse Distributed Memory—a kind of associative memory suitable to work with high-dimensional binary vectors, which also exhibits behaviours in many aspects similar to those of the human brain. This paper analyses the impact of using different image processing techniques on the images used: histogram equalisation, contrast normalisation and smoothing using a Gaussian filter. The results show that equalisation and smoothing have a positive effect on the performance of the system. © 2012 Newswood Limited. All rights reserved.

关键词： Equalizers

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Bayesian 3D independent motion segmentation with IMU-aided RBG-D sensor

Bayesian 3D independent motion segmentation with IMU-aided R...

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2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent systems, MFI 2012

作者： Lobo, Jorge Ferreira, Joao Filipe Trindade, Pedro Dias, Jorge Department of Electrical and Computer Engineering University of Coimbra Portugal ISR - Institute of Systems and Robotics University of Coimbra Portugal Robotics Institute Khalifa University Abu Dhabi United Arab Emirates

ISBN: (纸本)9781467325110

In this paper we propose a two-tiered hierarchical Bayesian model to estimate the location of objects moving independently from the observer. Biological vision systems are very successful in motion segmentation, since they efficiently resort to flow analysis and accumulated prior knowledge of the 3D structure of the scene. Artificial perception systems may also build 3D structure maps and use optical flow to provide cues for ego- and independent motion segmentation. Using inertial and magnetic sensors and an image and depth sensor (RGB-D) we propose a method to obtain registered 3D maps, which are subsequently used in a probabilistic model (the bottom tier of the hierarchy) that performs background subtraction across several frames to provide a prior on moving objects. The egomotion of the RGB-D sensor is estimated starting with the angular pose obtained from the filtered accelerometers and magnetic data. The translation is derived from matched points across the images and corresponding 3D points in the rotation-compensated depth maps. A gyro-aided Lucas Kanade tracker is used to obtain matched points across the images. The tracked points can also used to refine the initial sensor based rotation estimation. Having determined the camera egomotion, the estimated optical flow assuming a static scene can be compared with the observed optical flow via a probabilistic model (the top tier of the hierarchy), using the results of the background subtraction process as a prior, in order to identify volumes with independent motion in the corresponding 3D point cloud. To deal with the computational load CUDA-based solutions on GPUs were used. Experimental results are presented showing the validity of the proposed approach. © 2012 IEEE.

关键词： Optical flows

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Global Trajectory Tracking for a Class of Underactuated Vehicles

Global Trajectory Tracking for a Class of Underactuated Vehi...

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American Control Conference

作者： Pedro Casau Ricardo G. Sanfelice Rita Cunha David Cabecinhas Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Técnico Universidade Técnica de Lisboa 1049-001 Lisboa Portugal Department of Aerospace and Mechanical Engineering University of Arizona 1130 N. Mountain Ave AZ 85721

ISBN: (纸本)9781479901777

In this paper, we address the problem of trajectory tracking for a class of underactuated vehicles with full torque actuation and only one dimensional force actuation (thrust). For this class of vehicles, the desired thrust is defined by a saturated control law that achieves global asymptotic stabilization of the position tracking error. The proposed control law also assures that the third component of the angular velocity is regulated to zero. To accomplish this task we propose a hybrid controller that is designed using backstepping techniques and recent developments on synergistic Lyapunov functions. Simulations validating the results are also provided.

关键词： position tracking error angular velocity is regulated to zero results are also provided trajectory tracking Location tracking vehicle peak torque Classes control law ANGULAR VELOCITY Activation thrust saturating control

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A New Graph Model with Random Edge Values: Connectivity and Diameter

A New Graph Model with Random Edge Values: Connectivity and ...

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Annual Allerton Conference on Communication, Control, and Computing

作者： Richard J. La Maya Kabkab the Department of Electrical & Computer Engineering (ECE) and the Institute for Systems Research (ISR) University of MarylandCollege Park MD 20742.

ISBN: (纸本)9781479934119

We introduce a new random graph model. In our model, n, n ≥ 2, vertices choose a subset of potential edges by considering the (estimated) benefits or utilities of the edges. More precisely, each vertex selects k, k ≥ 1, incident edges it wishes to set up, and an edge between two vertices is present in the graph if and only if both of the end vertices choose the edge. First, we examine the scaling law of the smallest k needed for graph connectivity with increasing n and prove that it is θ(log(n)). Second, we study the diameter of the random graph and demonstrate that, under certain conditions on k, the diameter is close to log(n)/ log(log(n)) with high probability. In addition, as a byproduct of our findings, we show that, for all sufficiently large n, if k > β* log(n), where β*≈ 2.4626, there exists a connected Erd?s-Rényi random graph that is embedded in our random graph with high probability.

关键词： graph edge scaling law

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Parameterizing interpersonal behaviour with Laban movement analysis - A Bayesian approach

Parameterizing interpersonal behaviour with Laban movement a...

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2012 IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops, CVPRW 2012

作者： Roudposhti, Kamrad Khoshhal Santos, Luís Aliakbarpour, Hadi Dias, Jorge Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781467316118

In this paper we propose a probabilistic model to parameterize human interactive behaviour from human motion. To Support the model taxonomy, we use Laban Movement Analysis (LMA), proposed by Rudolph Laban [11], to characterize human non-verbal communication. In interpersonal communication, body motion carries a lot of meaningful information, useful to analyse group dynamic behaviors in a wide range of social scenarios (e.g. behaviour analysis of human interpersonal activities and surveillance system). Taking the advantage of interpretation of social signals defined by Alex Pentland [19], and the descriptive body movement analysis proposed by Laban, we identified characteristics allowing both works to complement each other. To explore in group dynamics, we attempt to show the existent connections between Pentland's descriptions for Interpersonal Behaviours (IBs), and LMA parameters for human body part motions. Those relations are the keys to characterize the interpersonal communication. Given the uncertainty of the phenomenon, Bayesian's methodology is applied. The results present LMA parameters as reliable indicators for IBs, allowing us to generalize the model. © 2012 IEEE.

关键词： Bayesian networks

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An Investigation on the Accuracy of Regional Ocean Models Through Field Trials

An Investigation on the Accuracy of Regional Ocean Models Th...

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IEEE International Conference on robotics and Automation

作者： Ryan N. Smith Kimia Nazarzadeh Jonathan Kelly Gaurav S. Sukhatme School of Electrical Engineering and Computer Science Queensland University of Technology Brisbane QLD 4001 Australia. Robust Robotics Group Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA 02142 USA. Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA 90089 USA.

ISBN: (纸本)9781467356404

Recent efforts in mission planning for underwater vehicles have utilised predictive models to aid in navigation, optimal path planning and drive opportunistic sampling. Although these models provide information at a unprecedented resolutions and have proven to increase accuracy and effectiveness in multiple campaigns, most are deterministic in nature. Thus, predictions cannot be incorporated into probabilistic planning frameworks, nor do they provide any metric on the variance or confidence of the output variables. In this paper, we provide an initial investigation into determining the confidence of ocean model predictions based on the results of multiple field deployments of two autonomous underwater vehicles. For multiple missions of two autonomous gliders conducted over a two-month period in 2011, we compare actual vehicle executions to simulations of the same missions through the Regional Ocean Modeling System in an ocean region off the coast of southern California. This comparison provides a qualitative analysis of the current velocity predictions for areas within the selected deployment region. Ultimately, we present a spatial heat-map of the correlation between the ocean model predictions and the actual mission executions. Knowing where the model provides unreliable predictions can be incorporated into planners to increase the utility and application of the deterministic estimations.

关键词： Regional Ocean Models Through Field Trials mission planning underwater vehicles

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Hand gesture recognition using color and depth images enhanced with hand angular pose data

Hand gesture recognition using color and depth images enhanc...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： Pedro Trindade Jorge Lobo João P. Barreto ISR-Institute of Systems and Robotics University of Coimbra Portugal ISR-Institute of Systems and Robotics and the Department of Electrical and Computer Engineering University of Coimbra Portugal

In this paper we propose a hand gesture recognition system that relies on color and depth images, and on a small pose sensor on the human palm. Monocular and stereo vision systems have been used for human pose and gesture recognition, but with limited scope due to limitations on texture, illumination, etc. New RGB-Depth sensors, that reply on projected light such as the Microsoft Kinect, have overcome many of those limitations. However, the point clouds for hand gestures are still in many cases noisy and partially occluded, and hand gesture recognition is not trivial. Hand gesture recognition is much more complex than full body motion, since we can have the hands in any orientation and can not assume a standing body on a ground plane. In this work we propose to add a tiny pose sensor to the human palm, with a minute accelerometer and magnetometer that combined provide 3D angular pose, to reduce the search space and have a robust and computationally light recognition method. Starting with the full depth image point cloud, segmentation can be performed by taking into account the relative depth and hand orientation, as well as skin color. Identification is then performed by matching 3D voxel occupancy against a gesture template database. Preliminary results are presented for the recognition of Portuguese Sign Language alphabet, showing the validity of the approach.

关键词： Gesture recognition Image color analysis Iterative closest point algorithm Skin Libraries Robot sensing systems

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On-line 3D body modelling for augmented reality

On-line 3D body modelling for augmented reality

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International Conference on computer Graphics Theory and Applications, GRAPP 2012 and International Conference on Information Visualization Theory and Applications, IVAPP 2012

作者： Almeida, Luis Menezes, Paulo Dias, Jorge Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Institute Polytechnic of Tomar Tomar Portugal

ISBN: (纸本)9789898565020

Building 3D body models is an important task for virtual and augmented reality applications in telerehabilitation, education, 3DTV, entertainment and tele-presence. We propose a real-time full 3D reconstruction system that combines visual features and shape-based alignment using low cost depth sensor and video cameras targeting three-dimensional conferencing applications. With this approach we overcome the classic video based reconstruction problem in low-texture or repeated pattern regions. Alignment between successive frames is computed by jointly optimizing over both appearances and shape matching. Appearance-based alignment is done over 2D SURF features annotated with 3D position. Shape-based alignment is performed using the motion transformation estimation between consecutive annotated 3D point clouds through a linear method. A solution to avoid wrong annotated 3D matched points is proposed. 3D mesh model representation is used to lower the processed data and create a 3D representation that is independent of view-point.

关键词： Augmented reality

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HRI Pioneers Workshop 2013 13

HRI Pioneers Workshop 2013

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Solace Shen Henny Admoni Caroline Harriott Yunkyung Kim Matt Marge Marynel Vázquez Astrid Rosenthal-von der Pütten Matt Beane Yasuhiko Hato Daniel Lazewatsky Robin Read Steve Vozar Department of Psychology University of Washington Seattle USA Department of Social Psychology University of Duisburg-Essen Duisburg Germany Department of Computer Science Yale University New Haven USA Sloan School of Management Massachusetts Institute of Technology Cambridge USA Department of Electrical Engineering & Computer Science Vanderbilt University Nashville USA Graduate School of Science & Technology Keio University Yokohama Japan Department of Industrial Design Korea Advanced Institute of Science and Technology Daejeon South Korea Industrial & Manufacturing Engineering Oregon State University Corvallis USA Language Technologies Institute Carnegie Mellon University Pittsburgh USA Centre for Robotics & Neural Systems University of Plymouth Plymouth UK Robotics Institute Carnegie Mellon University Pittsburgh USA Department of Mechanical Engineering University of Michigan Ann Arbor USA

ISBN: (纸本)9781467330558

The 2013 Human-Robot Interaction (HRI) Pioneers Workshop, which will be held in conjunction with the 8 th ACM/IEEE International Conference on Human-Robot Interaction, is the premiere venue for student research in the field. This highly selective workshop seeks to foster creativity, communication, and collaboration between the world's top student researchers in the field of human-robot interaction. Pioneers Workshop participants will have the opportunity to learn about the current state of HRI, to present their research, and to network with one another and with select senior researchers in a setting that is less formal and more interactive then the main conference. The theme for this year is Re-envisioning HRI: Dealing With the Elephants in Our Room. The workshop aims to bring forward difficult to discuss issues to help the field achieve more balanced perspectives and a clearer picture of what sort of future we are building.

关键词： Educational institutions Conferences Human-robot interaction Psychology computer science Service robots

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