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2012 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Jürgen Sturm Nikolas Engelhard Felix Endres Wolfram Burgard Daniel Cremers Computer Vision Group Computer Science Department Technical University of Munich Germany Autonomous Intelligent Systems Laboratory Computer Science Department University of Freiburg Germany

ISBN: (纸本)9781467317375

In this paper, we present a novel benchmark for the evaluation of RGB-D SLAM systems. We recorded a large set of image sequences from a Microsoft Kinect with highly accurate and time-synchronized ground truth camera poses from a motion capture system. The sequences contain both the color and depth images in full sensor resolution (640 × 480) at video frame rate (30 Hz). The ground-truth trajectory was obtained from a motion-capture system with eight high-speed tracking cameras (100 Hz). The dataset consists of 39 sequences that were recorded in an office environment and an industrial hall. The dataset covers a large variety of scenes and camera motions. We provide sequences for debugging with slow motions as well as longer trajectories with and without loop closures. Most sequences were recorded from a handheld Kinect with unconstrained 6-DOF motions but we also provide sequences from a Kinect mounted on a Pioneer 3 robot that was manually navigated through a cluttered indoor environment. To stimulate the comparison of different approaches, we provide automatic evaluation tools both for the evaluation of drift of visual odometry systems and the global pose error of SLAM systems. The benchmark website [1] contains all data, detailed descriptions of the scenes, specifications of the data formats, sample code, and evaluation tools.

关键词： Cameras Simultaneous localization and mapping Calibration Trajectory Visualization

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Dependence Tree Structure Estimation via Copula

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International Journal of Automation and computing 2012年第2期9卷 113-121页

作者： Jian Ma Zeng-Qi Sun Sheng Chen Hong-Hai Liu Department of Computer Science Tsinghua University Beijing 100084 PRC Electronics and Computer Science Faculty of Physical and Applied Sciences University of Southampton Southampton SO17 1B J UK Faculty of Engineering King Abdulaziz University Jeddah 21589 Saudi Arabia Intelligent Systems and Robotics Research Group School of Creative Technologies University of Portsmouth Portsmouth PO1 2D J UK

We propose an approach for dependence tree structure learning via copula. A nonparametric algorithm for copula estimation is presented. Then a Chow-Liu like method based on dependence measure via copula is proposed to estimate maximum spanning bivariate copula associated with bivariate dependence relations. The main advantage of the approach is that learning with empirical copula focuses on dependence relations among random variables, without the need to know the properties of individual variables as well as without the requirement to specify parametric family of entire underlying distribution for individual variables. Experiments on two real-application data sets show the effectiveness of the proposed method.

关键词： Copula empirical copula dependence tree structure learning probability distribution.

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A generalized framework for opening doors and drawers in kitchen environments

A generalized framework for opening doors and drawers in kit...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Thomas Rühr Jürgen Sturm Dejan Pangercic Michael Beetz Daniel Cremers Intelligent Autonomous Systems group Computer Science Department Technische Universität München Germany Computer Vision and Pattern Recognition group Computer Science Department Technische Universität München Germany

In this paper, we present a generalized framework for robustly operating previously unknown cabinets in kitchen environments. Our framework consists of the following four components: (1) a module for detecting both Lambertian and non-Lambertian (i.e. specular) handles, (2) a module for opening and closing novel cabinets using impedance control and for learning their kinematic models, (3) a module for storing and retrieving information about these objects in the map, and (4) a module for reliably operating cabinets of which the kinematic model is known. The presented work is the result of a collaboration of three PR2 beta sites. We rigorously evaluated our approach on 29 cabinets in five real kitchens located at our institutions. These kitchens contained 13 drawers, 12 doors, 2 refrigerators and 2 dishwashers. We evaluated the overall performance of detecting the handle of a novel cabinet, operating it and storing its model in a semantic map. We found that our approach was successful in 51.9% of all 104 trials. With this work, we contribute a well-tested building block of open-source software for future robotic service applications.

关键词： Robot sensing systems Kinematics Robot kinematics Grippers Solid modeling Trajectory

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Coral reef mosaicking using Teardrop and Fast Image Labeling

Coral reef mosaicking using Teardrop and Fast Image Labeling

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OCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities

作者： Corpuz, Francis James Naval, Prospero Capili, Eusebio Jauod, Jaylord Judilla, Roel John Soriano, Maricor Vision and Image Processing Group National Institute of Physics University of the Philippines Diliman Quezon City Philippines Department of Computer Science College of Engineering University of the Philippines Diliman Quezon City Philippines Mapua Robotics Center Special Projects Laboratory Mapua Institute of Technology Intramuros Manila Philippines

ISBN: (纸本)9781457720895

In this paper, we present an inexpensive system for diverless video capture and fast image stitching of image frames for rapid reef assessment of shallow coral reefs. Our system has two main components: 1) Teardrop, a boat-towable, winged hull apparatus designed to house a commercial digital camera, and 2) a mosaicking algorithm to stitch the coral reef video into mosaics for further appreciation and analysis. The captured reef video is then separated into image frames which are to be stitched sequentially using Fast Image Labeling. The overlap between image frames is estimated using Single-Step DFT, an efficient sub-pixel estimation algorithm. The estimated overlap is used to compute for the area to be added to the mosaic space. The overlapping section between succeeding image-pairs are stitched along a seam determined by a minimal-cost path using dynamic programming. The visibility of the seam boundaries is further minimized by utilizing blending on multi-resolution splines. Experimental results on automated reef mosaics creation from actual coral reef video taken using Teardrop shows the performance of the system described. The main contribution of this work is the demonstration of a rapid reef visualization system using a diverless system and commercially available, non-research-grade imaging equipment. © 2012 IEEE.

关键词： Reefs

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Coral reef mosaicking using Teardrop and Fast Image Labeling

Coral reef mosaicking using Teardrop and Fast Image Labeling

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OCEANS - Europe

作者： Francis James Corpuz Prospero Naval Eusebio Capili Jaylord Jauod Roel John Judilla Maricor Soriano Vision and Image Processing Group Instrumentation Physics Laboratory National Institute of Physics Computer Vision and Machine Intelligence Group Department of Computer Science College of Engineering University of Philippines Quezon Philippines Computer Vision and Machine Intelligence Group Department of Computer Science College of Engineering University of Philippines Quezon Philippines Mapua Robotics Center Special Projects Laboratory Institutional Laboratory Mgmt Office Mapua Institute of Technology Manila Philippines Vision and Image Processing Group Instrumentation Physics Laboratory National Institute of Physics University of Philippines Quezon Philippines

关键词： Image segmentation Sea measurements Cameras Labeling Discrete Fourier transforms Sea floor

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A novel swarm intelligence algorithm and its application in solving wireless sensor networks coverage problems

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Journal of Networks 2012年第12期7卷 2037-2043页

作者： Mo, Yuanbin Liu, Jizhong Wang, Baolei Jonathan Wu, Q.M. College of Mathematics and Computer Science Guangxi University for Nationalities Nanning 530006 China School of Mechanical and Electrical Engineering Institute of Robotics of Nanchang University Nanchang University Nanchang 330031 China Department of Electrical and Computer Engineering Computer Vision and Sensing Systems Laboratory University of Windsor Windsor N9B3P4 Canada

Wireless sensor networks (WSNs) have attracted a great deal of research due to their wide-range of potential applications. Sensor deployment and coverage problems are their important issues. This article briefly introduces the principle of swarm intelligence (SI). A novel SI algorithm based on information sharing of Particle Swarm Optimization (PSO) and diversity maintenance mechanism of Artificial Immune System (AIS) is designed and the model of coverage problems is given. Its applications in solving different deterministic and random coverage problems are given. The algorithm used in obtaining maximum coverage probability with given number of sensor nodes and minimum number of sensor nodes with required coverage probability of WSNs deterministic coverage, and determining the selected sensor nodes with coverage probability and connectivity requirement of WSNs random coverage, are analyzed in detail. The simulation results show the algorithm is practical. The applications of SI on K- coverage and connectivity problems in the future are also projected in the article. © 2012 ACADEMY PUBLISHER.

关键词： Swarm intelligence

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Event-based particle filtering for robot self-localization

Event-based particle filtering for robot self-localization

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IEEE International Conference on robotics and Biomimetics

作者： David Weikersdorfer Jörg Conradt Department of Mathematics and Computer Science and part of the Intelligent Autonomous Systems Group Technical University Munich Germany Department of Electrical Engineering and head of the group Neuroscientific System Theory (NST) Technical University Munich Germany

ISBN: (纸本)9781467321259

We propose a novel algorithm for robot self-localization using an embedded event-based sensor. This sensor produces a stream of events at microsecond time resolution which only represents pixel-level illumination changes in a scene, as e.g. caused by perceived motion. This is in contrast to classical image sensors, which wastefully transmit redundant information at a much lower frame rate. Our method adapts the commonly used Condensation Particle Filter Tracker to such event-based sensors. It works directly with individual, highly ambiguous pixel-events and does not employ event integration over time. The lack of complete discrete sensory measurements is addressed by applying an exponential decay model for hypotheses likelihood computation. The proposed algorithm demonstrates robust performance at low computation requirements; turning it suitable for implementation in embedded hardware on small autonomous robots. We evaluate our algorithm in a simulation environment and with experimental recorded data.

关键词： Filtering using applying Particle filters Filtration Robot Event-based Simulated Environment embedded hardware Sensors (image) information redundancy Frame Rate Robust control temporal resolution Sensors

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Using mobile relays in multi-robot exploration

Using mobile relays in multi-robot exploration

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2011 Australasian Conference on robotics and Automation

作者： De Hoog, Julian Cameron, Stephen Jiménez-González, Adrian De-Dios, J. Ramiro Martínez Ollero, Anibal Department of Computer Science University of Oxford United Kingdom Robotics Vision and Control Group University of Sevilla Spain

ISBN: (纸本)9780980740424

Many robotics tasks require autonomous exploration by teams of robots. In difficult or large environments, communication drop-out complicates this task. Several approaches exist that aim to keep the team connected, but even so there is an inherent limit to the range that can be explored. In this paper we describe and examine Role-Based Exploration, an approach that uses mobile relays to ferry information back and forth within the team, and compare it to methods that do not. There are significant advantages in the use of such relays, such as improved coordination and responsiveness, and adaptability to unexpected communication dropout. The approaches are implemented and validated on a team of real robots.

关键词： Robots

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Supervised texture segmentation through a multi-level pixel-based classifier based on specifically designed filters

Supervised texture segmentation through a multi-level pixel-...

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IEEE International Conference on Image Processing

作者： Jaime Melendez Xavier Girones Domenec Puig Intelligent Robotics and Computer Vision Group Department of Computer Science and Mathematics Rovira i Virgili University Spain

This paper presents a new, efficient technique for supervised texture segmentation based on a set of specifically designed filters and a multi-level pixel-based classifier. Filter design is carried out by means of a neural network, which is trained to maximize the filters' discrimination power among the texture classes under consideration. Texture features obtained with these filters are then processed by a classification scheme that utilizes multiple evaluation window sizes following a top-down approach, which iteratively refines the resulting segmentation. The proposed technique is compared to previous supervised texture segmenters by using both synthetic compositions and real outdoor textured images.

关键词： Filter banks Image segmentation Feature extraction Gabor filters Adaptive filters Conferences Support vector machines

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Multi-modal visual attention for robotics active vision systems - A reference architecture

Multi-modal visual attention for robotics active vision syst...

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AISB 2011 Symposium on Architectures for Active vision

作者： Hülse, Martin McBride, Sebastian Lee, Mark Department of Computer Science Intelligent Robotics Group Aberywtwyth University SY23 3DB United Kingdom

ISBN: (纸本)9781908187000

This work introduces an architecture for a robotic active vision system equipped with a manipulator that is able to integrate visual and non-visual (tactile) sensorimotor experiences. Inspired by the human vision system, we have implemented a strict separation of object location (where-data) and object features (what-data) in the visual data stream. This separation of what- and where-data has computational advantage but requires sequential fixation of visual cues in order to create and update a coherent view of the world. Hence, visual attention mechanisms must be put in place to decide which is the most task-relevant cue to fixate next. Regarding object manipulation many task relevant object properties (e.g. tactile feedback) are not necessarily related to visual features. Therefore, it is important that non-visual object features can influence visual *** present and demonstrate visual attention mechanisms for an active vision system that are modulated by visual and non-visual object features.

关键词： Manipulators

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