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Issues in high performance vision systems design for underwater interventions 42

Issues in high performance vision systems design for underwa...

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42nd Conference of the Industrial Electronics Society, IECON 2016

作者： Oleari, Fabio Lodi Rizzini, Dario Kallasi, Fabjan Aleotti, Jacopo Caselli, Stefano RIMLab - Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dell'Informazione University of Parma Italy

ISBN: (纸本)9781509034741

This paper describes the design and evaluation of a vision system conceived to provide perception in Autonomous Underwater Vehicle (AUV) intervention tasks. Due to the accuracy requirements inherent in manipulation tasks, high performance vision systems, enabling adequate perception capabilities, are needed to cope with underwater interventions. However, vision systems are challenged by the difficulties and variability of underwater environments as well as by the need to operate in a sealed canister. The vision system described in this paper addresses design issues like computational performance, energy power consumption, heat dissipation, and network capabilities. Even though the system has been designed to support stereovision, experiments in several underwater contexts have shown that stereovision is seldom applicable, due to the many problems faced by light propagation in water. Developing a system for underwater operation emphasizes the need for tradeoffs between computational performance and power consumption and dissipation, as well as the need for flexibility to support multiple vision processing pipelines and adapt to the specific underwater context. © 2016 IEEE.

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A virtual reality based system for programming mobile manipulation tasks

A virtual reality based system for programming mobile manipu...

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作者： Aleotti, Jacopo Melzi, Alessandro Caselli, Stefano RIMLab - Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria Dell'Informazione University of Parma Italy

ISBN: (纸本)9783902661166

This paper presents a virtual reality based system for programming mobile manipulation tasks. The system supports two modes of operation. The first mode implements a virtual reality interface for teleoperation, while the second mode is based on the programming by demonstration paradigm. The system exploits an advanced user interface allowing users with little or no technical expertise to integrate new tasks in a mobile robotic platform. The user can specify trajectories to be performed by the mobile base by means of a natural interface. Moreover the operator can supervise and validate the demonstrated task through a simulation module, thereby reducing errors in the generation process. Some experiments involving the whole set of system components demonstrate the viability and effectiveness of the approach. Copyright © 2006 IFAC.

关键词： Virtual reality

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Comfortable robot to human object hand-over

Comfortable robot to human object hand-over

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2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012

作者： Aleotti, Jacopo Micelli, Vincenzo Caselli, Stefano RIMLab - Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dell'Informazione University of Parma Italy

ISBN: (纸本)9781467346054

A method for robot to human object hand-over is presented that takes into account user comfort. Comfort is addressed by serving the object to facilitate user's convenience. The object is delivered so that the most appropriate part is oriented towards the person interacting with the robot. This approach, aimed at contributing to the development of socially aware robots, has not been considered in previous works. The robot system also supports sensory-motor skills like object and people detection, robot grasping and motion planning. The experimental setup consists of a six degrees of freedom robot arm with both an eye-in-hand laser scanner and a fixed range sensor. The user interacting with the robot can assume an arbitrary position in front of the robot. Experiments are reported from a user study. © 2012 IEEE.

关键词： Degrees of freedom (mechanics)

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Object manipulation in visuo-haptic augmented reality with physics-based animation

Object manipulation in visuo-haptic augmented reality with p...

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19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010

作者： Aleotti, Jacopo Denaro, Francesco Caselli, Stefano RIMLab - Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dell'Informazione University of Parma Italy

ISBN: (纸本)9781424479917

We present an approach for visuo-haptic augmented reality, which is focused on object manipulation tasks. The interactive environment combines three-DOF haptic rendering and physics-based animation. A desktop haptic device with force feedback is driven by the user to interact with movable virtual objects that are superimposed upon a visual representation of the real workspace. Virtual objects coexist with real objects in the augmented reality space and are simulated in a physically plausible manner. The system supports both rigid and deformable objects with arbitrary shape. Accurate algorithms for camera calibration, registration, object manipulation and feedback computation have also been developed. Several experiments have been performed in order to test both single and dual-user collaborative tasks. © 2010 IEEE.

关键词： Augmented reality

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A scan matching method based on the area overlap of star-shaped polygons

A scan matching method based on the area overlap of star-sha...

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2013 6th European Conference on Mobile Robots, ECMR 2013

作者： Lodi Rizzini, Dario Caselli, Stefano RIMLab - Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria Dell' Lnformazione University of Parma Italy

ISBN: (纸本)9781479902637

We illustrate a method that performs scan matching by maximizing the intersection area of the scans. The intersection area is a robust parameter that is less prone to measurement errors with respect to alternative techniques. Furthermore, such technique does not require to associate each point of one scan to a point of the other one like in some popular algorithms. The relative pose that maximizes the overlap is estimated iteratively. Since the scans are represented by star-shaped polygons due to visibility properties, their intersection can be computed using an efficient linear-time traversal of the vertices. Then, the relative pose is updated under the hypothesis that the combinatorics of intersection is left unchanged and the procedure is repeated until the scans are aligned with sufficient precision. © 2013 IEEE.

关键词： Iterative methods

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A multi-hypothesis constraint network optimizer for maximum likelihood mapping

A multi-hypothesis constraint network optimizer for maximum ...

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2011 IEEE International Conference on robotics and Automation, ICRA 2011

作者： Lodi Rizzini, Dario Caselli, Stefano RIMLab. - Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dell'Informazione University of Parma Italy

ISBN: (纸本)9781612843865

Loop closure is one of the most difficult task in localization and mapping problems since it suffers from perceptual aliasing. Multi-hypothesis topological SLAM algorithms have been developed to exploit connectivity and disambiguate such difficult task. In this paper, we propose a multi-hypothesis constraint network algorithm that tracks multiple map topologies and simultaneously keeps metric information. The map is stored as a graph consisting of poses and constraints and each constraint is associated to a loop closure hypothesis. Hypotheses are stored in a hypothesis tree that is expanded whenever possible loop closure may occur. Network poses are computed according to the most likely topological configuration, but alternative pose values are also computed for the poses that are adjacent to a hypothesis constraint to recover quickly the new configuration when required. Results provide a validation of the proposed approach. © 2011 IEEE.

关键词： Maximum likelihood

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Manipulation planning of similar objects by part correspondence

Manipulation planning of similar objects by part corresponde...

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IEEE 15th International Conference on Advanced robotics: New Boundaries for robotics, ICAR 2011

作者： Aleotti, Jacopo Caselli, Stefano RIMLab. - Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dell'Informazione University of Parma Italy

ISBN: (纸本)9781457711589

Many innovative ideas in robotics have been inspired by neuroscience and, in particular, by the investigation of how intelligence and perception work. In this paper we explore an approach for semantic robot grasping, which combines programming by demonstration, automatic 3D shape segmentation and manipulation planning by parts. Neuro-psychology studies have evidenced the influence of shape decomposition for human perception of objects. In accordance to these findings a robot manipulation system is presented which is capable of learning and planning manipulation tasks for similar objects. The proposed approach allows a robot to perform intelligent grasping tasks by modeling the topology of an object. Manipulation tasks are demonstrated in virtual reality using a data glove. Results show that 3D shape segmentation enables both object retrieval and part-based grasping according to the affordances of an object. © 2011 IEEE.

关键词： Virtual reality

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A parallel maximum likelihood algorithm for robot mapping

A parallel maximum likelihood algorithm for robot mapping

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2009 IEEE/RSJ International Conference on intelligent Robots and Systems, IROS 2009

作者： Rizzini, Dario Lodi Caselli, Stefano RIMLab. - Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dell'Informazione University of Parma Italy

ISBN: (纸本)9781424438044

Several recent algorithms address simultaneous localization and mapping as a maximum likelihood problem. While many proposed methods focus on efficiency or on online computation, less interest has been devoted to investigate a parallel or distributed organization of such algorithms in the perspective of multi-robot exploration. In this paper, we propose a parallel algorithm for map estimation based on Gauss-Seidel relaxation. The map is given in the form of a constraints network and is partioned into clusters of nodes by applying a node-tearing technique. The identified clusters of nodes can be processed independently as tasks assigned to different processors. The graph decomposition induces also a hierarchical organization of nodes that could be exploited for more sophisticated relaxation techniques. Results illustrate the potential and flexibility of the new approach. © 2009 IEEE.

关键词： Computational efficiency

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Towards a closed-form solution of constraint networks for maximum likelihood mapping

Towards a closed-form solution of constraint networks for ma...

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2009 International Conference on Advanced robotics, ICAR 2009

作者： Lodi Rizzini, Dario RIMLab. - Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dell'Informazione University of Parma Italy

ISBN: (纸本)9781424448555

Several recent algorithms address simultaneous localization and mapping as a maximum likelihood problem. According to such formulation map estimation is achieved by finding the configuration that minimizes the error function associated to the constraint network representing the map. Almost all the proposed algorithms exploit iterative fixed-point techniques. Less attention has been paid to the evaluation of the structure of the problem. In this paper, we derive the closed form solution for a constraint network of planar poses when the error function is given in a particular form. The derivation of the exact solution allows a better knowledge of the problem and a more detailed investigation of the performance of existing numerical techniques. The system of equations, that are satisfied by the solution, are computed and a general algorithm to solve such equations is provided.

关键词： Mapping

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Object categorization and grasping by parts from range scan data

Object categorization and grasping by parts from range scan ...

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2012 IEEE International Conference on robotics and Automation, ICRA 2012

作者： Aleotti, Jacopo Lodi Rizzini, Dario Caselli, Stefano RIMLab. - Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dell'Informazione University of Parma Italy

ISBN: (纸本)9781467314039

Object category recognition and localization in 3D range data is of great importance in robot manipulation. In this work we propose a novel approach for object categorization and grasping that is focused on topological shape segmentation. The method allows generation of watertight triangulated models of the objects and their shape segmentation into parts. This segmentation provides meaningful information about grasp affordances. An efficient technique for encoding proximity data from range scans is also presented as well as an advanced strategy for manipulation of object sub-parts. Experiments are reported in a real environment using a robot arm equipped with eye-in-hand laser scanner and a parallel gripper. © 2012 IEEE.

关键词： Object recognition

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