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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Sang Un Park Inwook Shim Myung Jin Chung Department of Electrical Engineering KAIST Daejeon South Korea Robotics Program KAIST Daejeon South Korea

ISBN: (纸本)9781457707223

3D mapping and expression of the environment are very important with various applications in many different fields. Among the various sensors (vision sensor, infrared sensor, and LiDAR (Light Detection and Ranging) sensor), we used the LiDAR sensor in this paper because its accuracy is good and easy to handle. There exist holes in the result of 3D reconstruction. When these holes are filled, improved results of localization, and path planning are expected. We propose a contour based sampling algorithm to fill holes. It uses the information from regions near the holes for the prediction, and the results confirm that the filled regions look similar to the real environment.

关键词： Filling Three dimensional displays Laser radar Robot sensing systems Vehicles

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3D mapping in urban environment using geometric featured voxel

3D mapping in urban environment using geometric featured vox...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Inwook Shim Yungeun Choe Myung Jin Chung Robotics Program KAIST Daejeon South Korea Departments of Electrical Engineering KAIST Daejeon South Korea

ISBN: (纸本)9781457707223

In recent year, much progress has been made in outdoor 3D mapping. However, 3D mapping in real time is still a daunting challenge in urban environment. This paper addresses the problem of 3D mapping from 3D laser scans in urban environments in real time. To do this, we proposed geometric featured voxel which can efficiently represent 3D urban structure without loss of geometric properties. For evaluation of the proposed voxel, we use Oakland dataset.

关键词： Three dimensional displays Image color analysis Robot kinematics Real time systems Urban areas Electronic mail

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Hierarchical on-line boosting based background subtraction

Hierarchical on-line boosting based background subtraction

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Korea-Japan Joint Workshop on Frontiers of Computer Vision

作者： Yongcheol Lee Jiyoung Jung In-So Kweon Robotics Program KAIST Daejeon South Korea Department of Electrical Engineering KAIST Daejeon South Korea

ISBN: (纸本)9781612846774

This paper presents a real-time background subtraction method which handles illumination changes and dynamic backgrounds such as flapping flags and waving trees. Previous approaches based on Gaussian mixture models usually generates models pixelwise, which makes it difficult to operate in realtime due to computational complexity. Moreover, pixelwise models tend to fail in sudden illumination changes or in dynamic backgrounds. In order to solve this problem, we propose an on-line boosting based background subtraction algorithm. Our approach divides the background area into overlapping patches instead of pixels, and learn classifiers with those patches. The main contribution of this paper is to propose a novel training process for classifiers which use block based Opponent Color Local Binary Pattern (OCLBP). Experimental results show that in environments containing illumination changes and/or dynamic backgrounds, our on-line boosting method using block based OCLBP outperforms previous on-line boosting methods or Gaussian mixture model based methods for robust background subtraction.

关键词： Boosting Training Pixel Image color analysis Lighting Computational modeling Heuristic algorithms

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Interval type-2 fuzzy logic controllers for flocking behavior

Interval type-2 fuzzy logic controllers for flocking behavio...

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Inaugural IEEE-IES Digital EcoSystems and Technologies Conference, DEST

作者： Seung-Mok Lee Hyun Myung Department of Civil and Environmental Engineering Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea

This paper presents a novel interval type-2 fuzzy logic control architecture for flocking system when the system has noisy sensor measurements. The traditional type-1 fuzzy logic controller (FLC) using precise fuzzy sets cannot fully model and handle the uncertainties of sensor data. However, type-2 FLC using type-2 fuzzy sets with a footprint of uncertainty (FOU) produce better performances under noisy environments. In this paper, therefore, we present a control architecture for flocking behavior that is based on interval type-2 FLC to implement the flocking behaviors of separation, obstacle avoidance, and velocity matching. The type-2 based control system could cope with the uncertainties of noisy sensor measurements and resulted in good performances that outperformed the type-1 FLC.

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Verification of registration method using a 3D laser scanner for orthopedic robot systems

Verification of registration method using a 3D laser scanner...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Joon-Yeon Cho Jeong-Yean Yang Min-Seok Lee Dong-Soo Kwon Department of Mechanical Engineering KAIST Daejeon South Korea Department of Robotics Program KAIST Daejeon South Korea

Knee arthroplasty requires precise milling of the implant cavity, which can prolong implant life and thus, improve the surgical outcome. Robot knee arthroplasty can significantly increase precision of the milling for the implant cavity. However, robot systems often involve process of registration (matching coordinates of robot, patient, and the image data), which can be one of the major drawbacks. The purpose of this paper is to present a new registration method using a surface data extracted from a 3D laser scanner for registration in robotic arthroplasty. Registration for robotic arthroplasty requires the following steps: 3D reconstruction (3D model) of the distal femur using the bone counters extracted from computed tomography (CT) image sections; surface data extraction using a 3D laser scanner; and matching of the 3D model and the extracted surface data. Bone model mechanism was designed to estimate bone motion and available bone exposure. Surface data extracted using 3D laser scanner was matched with 3D model. ICP matching algorithm was employed to perform the spatial transformation between the 3D model and the surface data extracted using the 3D laser scanner. Four local regions (based on anatomical structure) of distal femur were tested to find RSR (Recommended Scanning Region). Issues regarding the application of 3D laser scanner to robotic knee arthroplasty (TKA) is presented and discussed.

关键词： Three dimensional displays Solid modeling Data models Laser modes Robots Surface emitting lasers Data mining

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Vision-based corridor path search of a mobile robot

Vision-based corridor path search of a mobile robot

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Yeoun-Jae Kim Joon-Yong Lee Majed S. Aldosari Mazin S. Altokhais Ju-Jang Lee Robotics Program KAIST Daejeon South Korea Department of Electrical Engineering KAIST Daejeon South Korea National Robotics & Intelligent Systems Center KACST Riyadh Saudi Arabia

In this paper, We made an algorithm for a mobile robot to determine direction normal to the wall with two cameras in an indoor environment without any direction-notification marks. Furthermore, with this direction determination ability, made a method with which a mobile robot can navigate and search through an indoor corridor path without any predefined map information is made. the direction determination scheme uses Hough transform and horizontal line search. While the path search algorithm uses SIFT(Scale-Invariant Feature Transformation), 3D reconstruction and binary search tree algorithm. In the direction determination stage, the mobile robot detects lines in the image and detects horizontal lines to determine the normal to the wall direction. After the direction determination stage is completed, the robot determines the corridor path range through SIFT, RANSAC algorithm, and 3D reconstruction, and finally navigates through its pathway. The direction determination and navigation stage constitutes the binary search tree algorithm. After searching through all its pathway in the indoor environment, the robot returns to its original position with various corridor position information.

关键词： Mobile robots Robot vision systems Cameras Navigation Transforms

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Mobile-R: A Reconfigurable Cooperative Control Platform for Rapid Deployment of Multi-Robot Systems

Mobile-R: A Reconfigurable Cooperative Control Platform for ...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Stephen S. Nestinger Harry. H. Cheng Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute1 Department of Mechanical and Aerospace Engineering University of CaliforniaDavisCA 95616USA

Cooperative multi-robot systems have been used in a vast array of fields and are of particular interest in perilous environments. One of the main issues in multi-robot systems is the lack of a common set of programming and control abstractions and middleware. Controlling and programming cooperative multi-robot systems is a highly complicated task that requires a flexible and agile control architecture and programming environment that are able to handle the distributed nature of multi-robot systems. A generalized, highly flexible and reconfigurable cooperative robot control platform called Mobile-R has been developed. Mobile-R consists of a mobile agent-based robot control system and a mission-based rapid deployment system. A real-world validation experiment involving cooperative multi-robot perimeter patrolling is presented.

关键词： Hardware Robot sensing systems Mobile communication Robot control Multirobot systems Protocols

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Indoor Localization Using Particle Filter and Map-based NLOS Ranging Model

Indoor Localization Using Particle Filter and Map-based NLOS...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Jongdae Jung Hyun Myung Robotics Program and Department of Civil and Environmental Engineering KAIST (Korea Advanced Institu the Department of Civil and Environmental Engineering KAIST (Korea Advanced Institute of Science and

User localization is one of the key technologies for mobile robots to successfully interact with humans. Among various localization methods using radio frequency (RF) signals, time of arrival (TOA) based localization is popular since the target coordinates can be directly calculated from the accurate range measurements. In complex indoor environment, however, RF ranging-based localization is quite challenging since the range measurements suffer not only from signal noise but also from signal blockages and reflections. A set of range measurements taken in complex indoor environment verifies that almost all measurements are non-line-of-sight (NLOS) ranges which have striking difference to the line-of-sight (LOS) distances. These NLOS range measurements make severe degradation in the accuracy of trilateration based localizations if used without any compensation. In this paper we propose a particle filter-based localization algorithm which utilizes indoor geometry from a given map to estimate the NLOS signal path and compensates for the range measurements. The algorithm is verified with experiments performed in real indoor environments.

关键词： Frequency measurement Particle measurements Atmospheric measurements Distance measurement Manganese Nonlinear optics Cascading style sheets

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Low Speed Control of an Autonomous Vehicle by Using a Fractional PI Controller

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IFAC Proceedings Volumes 2011年第1期44卷 15025-15030页

作者： Inés Tejado Vicente Milanés Jorge Villagrá Jorge Godoy Hassan HosseinNia Blas M. Vinagre Industrial Engineering School University of Extremadura 06006 Badajoz Spain AUTOPIA Program Center for Automation and Robotics (CAR UPM-CSIC) 28500 Arganda del Rey Madrid Spain

Abstract Highly non-linear vehicle dynamics plays an important role in autonomous driving systems, especially in congested traffic situations at very low speeds. Due to this fact, accurate controllers are needed in order to ensure safety during navigation. This paper focuses on the design and experimental implementation of a fractional PI α controller for the low speed control problem in an autonomous prototype Citroen vehicle. Experimental tests at low speeds, obtained with a real vehicle on a real circuit at the Center for Automation and robotics facilities, show the effectiveness of the proposed controller.

关键词： Road Vehicle Control Linear Model Longitudinal Control PI α

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Real-time classification in tracking human using segmental feature and particle filter

Real-time classification in tracking human using segmental f...

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Inaugural IEEE-IES Digital EcoSystems and Technologies Conference, DEST

作者： Dong-Kyu Ryu Masanori Sugisaka Ju-Jang Lee Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea Artificial and Life Robotics Company Oita Japan Department of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea

This paper propose the efficient method concerning verifying and tracking of human face. Recently, there has been much interest in automatically face recognition and tracking in many areas such as intelligent robotics, military, smart device applications and automatic surveillance system. Though there have been many demands about real-time face verification and tracking at the same time, however it is insufficient to research algorithm which accomplish tracking and verification simultaneously. Our goal is to solve these two problems at the same time to save computation time and elevate the performance. This algorithm is consisted of segmental feature and particle filter. It is theoretically based on discriminative common vector method and Fisher's LDA. The algorithm trains segmented and shift face image to obtain new segmental features, then we take orthogonal projection matrix using Gram-Schmidt orthogonal-ization. To solve tracking problem, particle filter algorithm is used.

关键词： Face Support vector machine classification Image segmentation Particle filters Noise Classification algorithms Real time systems

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