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Learning the terrain and planning a collision-free trajectory for indoor post-disaster environments

Learning the terrain and planning a collision-free trajector...

引用

IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Ioannis Kostavelis Antonios Gasteratos Evangelos Boukas Lazaros Nalpantidis Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Computer Vision and Machine Intelligence Department of Mechanical and Manufacturing Engineering Aalborg University Copenhagen Copenhagen Denmark

Mobile robots dedicated in post-disaster missions should be capable of moving arbitrarily in unknown cluttered environments so as to accomplish their assigned security task. The paper in hand describes such an agent equipped with collision risk assessment capabilities, while it is able to trace an obstacle-free path in the scene as well. The robot exploits machine learning techniques for the traversability evaluation of the environment by making use of geometrical features, which derive from a postprocessing step of the depth map, obtained by an RGBD sensor. Then, the traversable scenes, are assessed by the likelihood the robot to collide on any arbitrary direction in front of it. Besides, the collision risk likelihood is combined with a path tracing algorithm based on Cellular Automata so that an obstacle-free route is then detected. The proposed method has been examined for several indoor scenarios revealing remarkable efficiency.

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Object recognition using saliency maps and HTM learning

Object recognition using saliency maps and HTM learning

引用

IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Ioannis Kostavelis Lazaros Nalpantidis Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Computer Vision and Active Perception Laboratory Centre for Autonomous Systems Royal Institute of Technology Stockholm Sweden

In this paper a pattern classification and object recognition approach based on bio-inspired techniques is presented. It exploits the Hierarchical Temporal Memory (HTM) topology, which imitates human neocortex for recognition and categorization tasks. The HTM comprises a hierarchical tree structure that exploits enhanced spatiotemporal modules to memorize objects appearing in various orientations. In accordance with HTM's biological inspiration, human vision mechanisms can be used to preprocess the input images. Therefore, the input images undergo a saliency computation step, revealing the plausible information of the scene, where a human might fixate. The adoption of the saliency detection module releases the HTM network from memorizing redundant information and augments the classification accuracy. The efficiency of the proposed framework has been experimentally evaluated in the ETH-80 dataset, and the classification accuracy has been found to be greater than other HTM systems.

关键词： Correlation Quantization Vectors Accuracy Support vector machines Object recognition Humans

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Design and Evaluation of Robotic Steering of a Flexible Endoscope

Design and Evaluation of Robotic Steering of a Flexible Endo...

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IEEE RAS & EMBS International Conference on Biomedical robotics and Biomechatronics

作者： Jeroen Ruiter Esther Rozeboom Mascha van der Voort Maartcn Bonnema Ivo Broeders Laboratory of Design Production and Management Department of Engineering Technology University of Twente Laboratory of Minimal Invasive Surgery & Robotics Department of Technical Medicine University of Twente

ISBN: (纸本)9781457711992

In current flexible endoscopy the physician faces problems in manipulating the endoscope. A lot of experience is required to master the procedure. This paper describes the design of an add-on robotic module that improves the user interface of traditional endoscopes and allows a single physician to operate it easily. We identified critical user aspects of traditional endoscopes that need to be copied in a robotic setup. In our design the physician uses a remote control that is connected to a light drive system. It allows manipulation of the robotic endoscope in space. We conducted an experiment to judge the usability of our system. Results indicate that robotic steering, using a position-controlled touchpad or a rate-controlled joystick increases efficiency and satisfaction.

关键词： Endoscopes Otolaryngologists User Interface Device Component Steering drive train FLEXIBLE touch panels

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Supervised traversability learning for robot navigation

Supervised traversability learning for robot navigation

引用

Lecture Notes in Computer Science

作者： Kostavelis, Ioannis Nalpantidis, Lazaros Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

ISBN: (纸本)9783642232312

This work presents a machine learning method for terrain's traversability classification. Stereo vision is used to provide the depth map of the scene. Then, a v-disparity image calculation and processing step extracts suitable features about the scene's characteristics. The resulting data are used as input for the training of a support vector machine (SVM). The evaluation of the traversability classification is performed with a leave-one-out cross validation procedure applied on a test image data set. This data set includes manually labeled traversable and non-traversable scenes. The proposed method is able to classify the scene of further stereo image pairs as traversable or non-traversable, which is often the first step towards more advanced autonomous robot navigation behaviours. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Support vector machines

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Lighting compensating multiview stereo

Lighting compensating multiview stereo

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IEEE International Conference on Imaging Systems and Techniques

作者： Chrysostomou, Dimitrios Nalpantidis, Lazaros Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Vas. Sophias 12 GR-671 00 Xanthi Greece

ISBN: (纸本)9781612848969

In this paper, a method that performs 3D object reconstruction from multiple views of the same scene is presented. This reconstruction method initially produces a basic model, based on the space carving algorithm, that is further refined in a subsequent step. The algorithm is fast, computationally simple and produces accurate representations of the input scenes. In addition, compared to previously presented works the proposed algorithm is able to cope with non uniformly lighted scenes due to the characteristics of the used voxel dissimilarity measure. The proposed algorithm is assessed and the experimental results are presented and discussed. © 2011 IEEE.

关键词： Computational modeling Computer vision Image color analysis Image reconstruction Robustness Stereo vision Three dimensional displays

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SPARTAN system: Towards a low-cost and high-performance vision architecture for space exploratory rovers

SPARTAN system: Towards a low-cost and high-performance visi...

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2011 IEEE International Conference on Computer Vision Workshops, ICCV Workshops 2011

作者： Kostavelis, Ioannis Boukas, Evangelos Nalpantidis, Lazaros Gasteratos, Antonios Rodrigalvarez, Marcos Aviles Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Advanced Space Systems and Technologies GMV Innovating Solutions Tres Cantos Madrid Spain

ISBN: (纸本)9781467300629

The "SPAring robotics Technologies for Autonomous Navigation" (SPARTAN) activity of the European Space Agency (ESA) aims to develop an efficient, low-cost and accurate vision system for the future Martian exploratory rovers. The interest on vision systems for space robots has been steadily growing during the last years. The SPARTAN system considers an optimal implementation of computer vision algorithms for space rover navigation and is designated for application to a space exploratory robotic rover, such as the ExoMars. The goal of the present work is the development of an appropriate architecture for the vision system. Thus, the arrangement and characteristics of the rover's vision sensors will be defined and the required computer vision modules will be presented. The analysis will be performed taking into consideration the constraints defined by ESA about the SPARTAN system. © 2011 IEEE.

关键词： Rovers

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Lighting compensating multiview stereo

Lighting compensating multiview stereo

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Dimitrios Chrysostomou Lazaros Nalpantidis Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

关键词： Image color analysis Three dimensional displays Computer vision Computational modeling Stereo vision Image reconstruction Robustness

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Robust 3D vision for robots using dynamic programming

Robust 3D vision for robots using dynamic programming

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IEEE International Conference on Imaging Systems and Techniques

作者： Nalpantidis, Lazaros Kalomiros, John Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Vas. Sofias 12 GR-67100 Xanthi Greece Department of Informatics and Communications School of Technological Applications Technological Educational Institute of Serres Terma Magnisias GR-62124 Greece

ISBN: (纸本)9781612848969

In this paper a new stereo vision method is presented that combines the use of a lightness-invariant pixel dissimilarity measure within a dynamic programming depth estimation framework. This method uses concepts such as the proper projection of the HSL colorspace for lightness tolerance, as well as the Gestalt-based adaptive support weight aggregation and a dynamic programming optimization scheme. The robust behavior of this method is suitable for the working environments of outdoor robots, where non ideal lighting conditions often occur. Such problematic conditions heavily affect the efficiency of robot vision algorithms in exploration, military and security applications. The proposed algorithm is presented and applied to standard image sets. © 2011 IEEE.

关键词： Dynamic programming

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SPARTAN system: Towards a low-cost and high-performance vision architecture for space exploratory rovers

SPARTAN system: Towards a low-cost and high-performance visi...

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International Conference on Computer Vision Workshops (ICCV Workshops)

作者： Ioannis Kostavelis Evangelos Boukas Lazaros Nalpantidis Antonios Gasteratos Marcos Aviles Rodrigalvarez Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Advanced Space Systems and Technologies GMV Innovating Solutions Madrid Spain

The “SPAring robotics Technologies for Autonomous Navigation” (SPARTAN) activity of the European Space Agency (ESA) aims to develop an efficient, low-cost and accurate vision system for the future Martian exploratory rovers. The interest on vision systems for space robots has been steadily growing during the last years. The SPARTAN system considers an optimal implementation of computer vision algorithms for space rover navigation and is designated for application to a space exploratory robotic rover, such as the ExoMars. The goal of the present work is the development of an appropriate architecture for the vision system. Thus, the arrangement and characteristics of the rover's vision sensors will be defined and the required computer vision modules will be presented. The analysis will be performed taking into consideration the constraints defined by ESA about the SPARTAN system.

关键词： Cameras Three dimensional displays Robot vision systems Accuracy Mars

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Robust 3D vision for robots using dynamic programming

Robust 3D vision for robots using dynamic programming

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Lazaros Nalpantidis John Kalomiros Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Department of Informatics and Communications School of Technological Applications Technological Educational Institute of Serres Serres Greece

关键词： Pixel Stereo vision Lighting Image color analysis Dynamic programming Robots Heuristic algorithms

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