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European Conference on mobile Robots (ECMR)

作者： Tomáš Vintr Sergi Molina Ransalu Senanayake George Broughton Zhi Yan Jiří Ulrich Tomasz Piotr Kucner Chittaranjan Srinivas Swaminathan Filip Majer Mária Stachová Achim J. Lilienthal Tomáš Krajník Artificial Intelligence Center Czech Technical University Lincoln Centre for Autonomous Systems (L-CAS) University of Lincoln UK Stanford University Distributed Artificial Intelligence and Knowledge Laboratory (CIAD) University of Technology of Belfort-Montbéliard (UTBM) France AASS Mobile Robotics and Olfaction Lab Örebro University Sweden University of Matej Bel in Banska Bystrica Slovakia

We present a human-centric spatiotemporal model for service robots operating in densely populated environments for long time periods. The method integrates observations of pedestrians performed by a mobile robot at different locations and times into a memory efficient model, that represents the spatial layout of natural pedestrian flows and how they change over time. To represent temporal variations of the observed flows, our method does not model the time in a linear fashion, but by several dimensions wrapped into themselves. This representation of time can capture long-term (i.e. days to weeks) periodic patterns of peoples' routines and habits. Knowledge of these patterns allows making long-term predictions of future human presence and walking directions, which can support mobile robot navigation in human-populated environments. Using datasets gathered for several weeks, we compare the model to state-of-the-art methods for pedestrian flow modelling.

关键词： Navigation Hidden Markov models Predictive models Trajectory Legged locomotion

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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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Full body human motion estimation on lie groups using 3D marker position measurements 16

Full body human motion estimation on lie groups using 3D mar...

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16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016

作者： Ćesić, Josip Joukov, Vladimir Petrović, Ivan Kulić, Dana University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Autonomous Systems and Mobile Robotics Croatia University of Waterloo Department of Electrical and Computer Engineering Adaptive Systems Laboratory Canada

ISBN: (纸本)9781509047185

This paper proposes a new algorithm for full body human motion estimation using 3D marker position measurements. The joints are represented with Lie group members, including special orthogonal groups SO(2) and SO(3), and a special euclidean group SE(3). We employ the Lie Group Extended Kalman Filter (LG-EKF) for stochastic inference on groups, thus explicitly accounting for the non-euclidean geometry of the state space, and provide the derivation of the LG-EKF recursion for articulated motion estimation. We evaluate the performance of the proposed algorithm in both simulation and on real-world motion capture data, comparing it with the Euler angles based EKF. The results show that the proposed filter significantly outperforms the Euler angles based EKF, since it estimates human motion more accurately and is not affected by gimbal lock. © 2016 IEEE.

关键词： Extended Kalman filters

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Full body human motion estimation on lie groups using 3D marker position measurements

Full body human motion estimation on lie groups using 3D mar...

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IEEE-RAS International Conference on Humanoid Robots

作者： Josip Ćesić Vladimir Joukov Ivan Petrović Dana Kulić Faculty of Electrical Engineering and Computing Laboratory for Autonomous Systems and Mobile Robotics Croatia Department of Electrical and Computer Engineering Adaptive Systems Laboratory Canada

关键词： Algebra Manifolds Three-dimensional displays Position measurement Motion estimation Kinematics Stochastic processes

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Real-time navigation for a humanoid robot using particle filter

Real-time navigation for a humanoid robot using particle fil...

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2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012

作者： Baltes, Jacky Cheng, Chi Tai Lau, Meng Cheng Espínola, Andrés Autonomous Agents Lab Department of Computer Science University of Manitoba Winnipeg MB R3T 2N2 Canada Department of Electrical Engineering Tamkang University Tamsui Dist. New Taipei City 25137 Taiwan Mobile Robotics and Automated Systems Laboratory Universidad La Salle Benjamin Franklin 47 Mexico DF Mexico

ISBN: (纸本)9783037856123

This paper presents a practical real-time visual navigation system, including a vision system, a particle filter (PF) based localization system, and a path planning system, for humanoid robots in an indoor environment. A neural network (NN) converter system is used to solve the image distortion problem. The monocular vision system detects objects of interest in the scene, calculating their position in the image, and converting the position in the image to real world coordinates. The PF localization system estimates the current position by the robot's motion model and corrects the estimated position by using feedback from the data gathered by the vision system. The path planning system determines the next motion based on the result of the localization system. This paper uses a tree-like path planning method which not only guides the robot to the destination but also avoids obstacles at the same time. The navigation method allows a user to assign several different target destinations to the robot simultaneously. The proposed method is implemented on a humanoid robot "ROBOTIS DARwIn-OP", an open platform humanoid robot. The effectiveness of the system is demonstrated in an empirical evaluation. © (2013) Trans Tech Publications, Switzerland.

关键词： Bandpass filters

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Exploiting Reusable Paths in mobile robotics: Benefits and Challenges for Long-term Autonomy

Exploiting Reusable Paths in Mobile Robotics: Benefits and C...

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Canadian Conference on Computer and Robot Vision, CRV

作者： Timothy D. Barfoot Braden Stenning Paul Furgale Colin McManus Autonomous Space Robotics Laboratory University of Toronto Institute for AeroSpace Studies Toronto Canada Autonomous Systems Laboratory ETH Zürich Zurich Switzerland Mobile Robotics Group University of Oxford Oxford UK

Visual-teach-and-repeat (VT&R) systems have proven extremely useful for practical robot autonomy where the global positioning system is either unavailable or unreliable, examples include tramming for underground mining using a planar laser scanner as well as a return-to-lander function for planetary exploration using a stereo-or laser-based camera. By embedding local appearance/metric information along an arbitrarily long path, it becomes possible to re-drive the path without the need for a single privileged coordinate frame and using only modest computational resources. For a certain class of long-term autonomy problems (e.g., repeatable long-range driving), VT&R appears to offer a simple yet scalable solution. Beyond single paths, we envision that networks of reusable paths could be established and shared from one robot to another to enable practical tasks such as surveillance, delivery (e.g., mail, hospitals, factories, warehouses), worksite operations (e.g., construction, mining), and autonomous roadways. However, for lifelong operations on reusable paths, robustness to a variety of environmental changes, both transient and permanent, is required. In this paper, we relate our experiences and lessons learned with the three above-mentioned implementations of VT&R systems. Based on this, we enumerate both the benefits and challenges of reusable paths that we see moving forwards. We discuss one such challenge, lighting-invariance, in detail and present our progess in overcoming it.

关键词： Robot kinematics Visualization Lighting Lasers mobile robots Simultaneous localization and mapping

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Robust vision system to illumination changes in a color-dependent task

Robust vision system to illumination changes in a color-depe...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Espínola, Andrés Romay, Alberto Baidyk, Tatiana Kussul, Ernst IIMAS National Autonomous University of Mexico Insurgentes Sur s/n Mexico D.F. Mexico Mobile Robotics and Automated Systems Laboratory Universidad la Salle Benjamin Franklin 47 México D.F Mexico CCADET National Autonomous University of Mexico Insurgentes Sur s/n Mexico D.F Mexico

ISBN: (纸本)9781457721373

Most computer vision tasks are strongly sensitive to illumination changes. This is the case of RoboCup competitions, being color dependent tasks, they require a robust color-based segmentation method of the image for object recognition. It is difficult to achieve a constant illumination in a work environment that is subject to day light changes. This is why camera parameters calibration such as exposure time must be robust enough to reduce the impact in the output images. A result comparison on the segmentation of images is made in three different color spaces, RGB, HSV, and YCrCb. We researched their connection with changes in lighting condition and select one of them that have less error for those environments. We introduce a fuzzy calibration method of the camera exposure time parameter, by histograms correlation. The calibrations results give an approximate value of the correct parameter to be modified in the camera in order to avoid affecting the thresholds of segmentation in the color recognition task. © 2011 IEEE.

关键词： Cameras

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Robust vision system to illumination changes in a color-dependent task

Robust vision system to illumination changes in a color-depe...

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IEEE International Conference on robotics and Biomimetics

作者： Andrés Espínola Alberto Romay Tatiana Baidyk Ernst Kussul IIMAS National Autonomous University of Mexico (UNAM) Mexicali Mexico Mobile Robotics & Automated Systems Laboratory Universidad de La Salle Mexico Mexico CCADET National Autonomous University of Mexico (UNAM) Mexicali Mexico

关键词： Image color analysis Lighting Calibration Image segmentation Cameras Robots Correlation

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An Inexpensive, Off-The-Shelf Platform for Networked Embedded robotics 1

An Inexpensive, Off-The-Shelf Platform for Networked Embedde...

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1st International Conference on Robot Communication and Coordination, RoboComm 2007

作者： Bordignon, M. Pagello, E. Saffiotti, A. Intelligent Autonomous Systems Laboratory Dept. of Information Engineering University of Padova Italy AASS Mobile Robotics Laboratory Dept. of Technology University of Örebro Sweden

ISBN: (纸本)9789639799080

Recent years have witnessed the proliferation of a new class of devices, commonly referred to as Networked Embedded Devices. Their increasingly low cost and small size make them suited for large scale sensing applications. Likewise, they could be appealing as a means to embed intelligent actuation capabilities into the environment, turning simple artifacts into networked robotic appliances. The currently existing devices, however, are not suited for this development. In this paper, we present the PEIS-Mote: an open, general, small-size and inexpensive sensor-actuator node especially suited for networked robotics, and built from commonly available off-the-shelf components. This platform can run a popular operating system for sensor networks, TinyOS, which makes it interoperable with most commercially available sensor nodes. Copyright © 2011-2012 ICST

关键词： Sensor nodes

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Seamless integration of robots and tiny embedded devices in a PEIS-Ecology

Seamless integration of robots and tiny embedded devices in ...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： M. Bordignon J. Rashid M. Broxvall A. Saffiotti Intelligent Autonomous Systems Laboratory Department of Information Engineering University of Padova Italy Maersk Mc-Kinney Moller Institute University of Southern Denmark Denmark AASS Mobile Robotics Laboratory Department of Technology University of Örebro Sweden

The fields of autonomous robotics and ambient intelligence are converging toward the vision of smart robotic environments, in which tasks are performed via the cooperation of many networked robotic devices. To enable this vision, we need a common communication and cooperation model that can be shared between robotic devices at different scales, ranging from standard mobile robots to tiny embedded devices. Unfortunately, today's robot middlewares are too heavy to run on tiny devices, and middlewares for embedded devices are too simple to support the cooperation models needed by an autonomous smart environment. In this paper, we propose a middleware model which allows the seamless integration of standard robots and simple off-the-shelf embedded devices. Our middleware is suitable for building truly ubiquitous robotics applications, in which devices of very different scales and capabilities can cooperate in a uniform way. We discuss the principles and implementation of our middleware, and show an experiment in which a mobile robot, a commercial mote, and a custom-built mote cooperate in a home service scenario.

关键词： Middleware Intelligent robots Robot sensing systems mobile robots Robot vision systems Orbital robotics Environmental factors Biological system modeling Intelligent networks Open source software

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