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Vision based localization of humanoid robots by inverse pose-estimation using a small set of fixed landmark features

Vision based localization of humanoid robots by inverse pose...

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2011 IEEE 9th Latin American robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011

作者： Lupián, Luis F Romay, Alberto Espínola, Andrés Mobile Robotics and Automated Systems Laboratory Universidad la Salle Benjamin Franklin 47 Col. Condesa México D.F. 06140 Mexico

ISBN: (纸本)9781457716904

We propose a vision based methodology to Sãolve the robot localization problem by estimating the pose of the robot's camera with respect to a model of the environment represented by a small set of landmark features. The methodology proposed constructs a regression model based on the pinhole camera projection model by combining the information of several observed features. In this regression model the unknowns are the X and Y coordinates of the location vector of the robot with respect to the environment, and the depths of each of the observed features. We use a RoboCup Humanoid KidSize field as a test bed for experimental validation of this methodology. © 2011 IEEE.

关键词： Anthropomorphic robots

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Segment-wise optimal trajectory execution control for four-wheeled omnidirectional mobile robots

Segment-wise optimal trajectory execution control for four-w...

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IEEE Latin American robotics Symposium, LARS

作者： Luis F. Lupián Josué R. Rabadán-Martín Mobile Robotics & Automated Systems Laboratory Universidad de La Salle Mexico

ISBN: (纸本)9781424462568

We introduce a novel technique for path execution control on a four-wheeled omnidirectional mobile robot which provides a segment-wise near-optimal solution based on LQR. The path is specified by a sequence of target regions that the mobile robot will have to visit in order. Unlike other similar solutions that can be found in the literature, our proposed technique is flexible enough to adjust the optimality index for different strategies such as low power consumption, high speed, high accuracy, and so on. We also show how the dynamic model for this kind of robot can be linearized by a change of variables on the control vector. The application that motivated this work is the RoboCup SmallSize League. However, the ideas presented in this paper can be easily extended to other similar applications. The proposed solution is tested against a benchmark simulation experiment and visualized inside an OpenGL virtual environment.

关键词： Optimal control mobile robots Wheels Testing Space technology Energy consumption Robot control Traction motors Artificial intelligence Intelligent robots

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Stabilization of a Wheeled Inverted Pendulum by a Continuous-Time Infinite-Horizon LQG Optimal Controller

Stabilization of a Wheeled Inverted Pendulum by a Continuous...

引用

IEEE Latin American robotics Symposium, LARS

作者： Luis F Lupian Rodrigo Avila Mobile Robotics & Automated Systems Laboratory Universidad de La Salle Mexicali Mexico

An LQG control strategy is proposed and tested for a wheeled inverted pendulum robot. We show how a reduced set of sensors, as compared to other solutions that can be found in the literature, can be used to observe all state variables of interest for stabilization. A Kalman-Bucy estimator is used to estimate the unmeasured variables and to filter those that are directly measured. An LQR feedback strategy is then used to stabilize the upright equilibrium state. The resulting LQG controller is tested under simulation and the results are verified on an OpenGL virtual environment developed for this purpose.

关键词： Optimal control mobile robots Robot sensing systems Wheels State feedback Testing Filters Torque control Weight control Proposals

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Vision based localization of humanoid robots by inverse pose-estimation using a small set of fixed landmark features

Vision based localization of humanoid robots by inverse pose...

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IEEE Latin American robotics Symposium, LARS

作者： Luis F Lupián Alberto Romay Andrés Espínola Mobile Robotics & Automated Systems Laboratory Universidad La Salle Mexico Distrito Federal Mexico

We propose a vision based methodology to solve the robot localization problem by estimating the pose of the robot's camera with respect to a model of the environment represented by a small set of landmark features. The methodology proposed constructs a regression model based on the pinhole camera projection model by combining the information of several observed features. In this regression model the unknowns are the X and Y coordinates of the location vector of the robot with respect to the environment, and the depths of each of the observed features. We use a RoboCup Humanoid KidSize field as a test bed for experimental validation of this methodology.

关键词： Cameras Robot kinematics Robot vision systems Mathematical model Calibration Feature extraction

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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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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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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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