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检索条件"机构=The Robotics Program KAIST"

共 141 条记录，以下是71-80 订阅

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Lidar-guided autonomous landing of an aerial vehicle on a ground vehicle

Lidar-guided autonomous landing of an aerial vehicle on a gr...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Jonghwi Kim Sangwook Woo Jinwhan Kim Department of Mechanical Engineering KAIST Daejeon Korea Robotics Program KAIST Daejeon Korea

This paper addresses the autonomous landing of an unmanned aerial vehicle (UAV) on a ground vehicle. Unlike most of the previous research on autonomous UAV landing that used onboard sensors mounted on the UAV, this study suggests using a lidar mounted on a ground vehicle for lidar-guided landing. To estimate the relative position of the UAV with respect to the landing platform, a clustering algorithm is applied. In addition, to enhance the safety of landing, a decision making procedure based on simple reachability analysis is introduced. The proposed landing method is implemented and then verified through an experiment.

关键词： Laser radar Drones Sensors Cameras Three-dimensional displays Land vehicles

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Visual SLAM with Keyframe Selection for Underwater Structure Inspection using an Autonomous Underwater Vehicle

Visual SLAM with Keyframe Selection for Underwater Structure...

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International Conference on Ubiquitous Robots and Ambient Intelligence

作者： Seonghun Hong Jinwhan Kim Robotics Program KAIST

ISBN: (纸本)9781509008223

This study introduces an efficient visual simultaneous localization and mapping (SLAM) algorithm that can be applied to autonomous inspection of underwater structures, such as ship hulls, dams, and marine structures. Considering that visual features on the surface of typical underwater structures are not uniformly distributed, the proposed visual SLAM algorithm includes an intra-image analysis scheme that evaluates whether each image obtained from the surface is informative before extracting the features. By using only potentially effective images for feature-based image registration, the computational efficiency of the visual SLAM can be greatly improved, compared with the conventional exhaustive approach. Experimental results using a hover-capable unmanned underwater vehicle verify the practical feasibility and performance of the proposed methodology.

关键词： Visual SLAM Keyframe selection Autonomous underwater vehicle Visual inspection

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Hadamard product for low-rank bilinear pooling 5

Hadamard product for low-rank bilinear pooling

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5th International Conference on Learning Representations, ICLR 2017

作者： Kim, Jin-Hwa On, Kyoung-Woon Lim, Woosang Kim, Jeonghee Ha, Jung-Woo Zhang, Byoung-Tak Interdisciplinary Program in Cognitive Science Seoul National University Seoul08826 Korea Republic of School of Computer Science and Engineering Seoul National University Seoul08826 Korea Republic of School of Computing KAIST Daejeon34141 Korea Republic of NAVER LABS Corp. NAVER Corp Gyeonggi-do13561 Korea Republic of School of Computer Science and Engineering Interdisciplinary Program in Cognitive Science Seoul National University and Surromind Robotics Seoul08826 Korea Republic of

Bilinear models provide rich representations compared with linear models. They have been applied in various visual tasks, such as object recognition, segmentation, and visual question-answering, to get state-of-the-art performances taking advantage of the expanded representations. However, bilinear representations tend to be high-dimensional, limiting the applicability to computationally complex tasks. We propose low-rank bilinear pooling using Hadamard product for an efficient attention mechanism of multimodal learning. We show that our model outperforms compact bilinear pooling in visual question-answering tasks with the state-of-the-art results on the VQA dataset, having a better parsimonious property. © ICLR 2019 - Conference Track Proceedings. All rights reserved.

关键词： Object recognition

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DMQEA-FCM: An approach for preference-based decision support

DMQEA-FCM: An approach for preference-based decision support

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Seung-Hwan Baek Si-Jeong Ryu Jong-Hwan Kim Robotics Program KAIST Daejeon Korea Department of Electrical Engineering KAIST Daejeon Korea

ISBN: (纸本)9781509006274

This paper proposes a novel algorithm, named dual multiobjective quantum-inspired evolutionary (DMQEA) algorithm augmented fuzzy cognitive map (FCM). DMQEA was developed to help users select preferable solutions out of the non-dominated ones and has been proven to be an effective way compared to other multi-objective optimization methods, such as MQEA, MQEA-PS, etc. DMQEA, in this paper, has been coupled with decision supporting tool, fuzzy cognitive maps (FCMs) to support selecting best models which can reflect users' preferences. Even though the attempts with single optimization such as genetic algorithms (GAs) or particle swarm optimization (PSO) have been frequently carried out, there have been only few attempt to incorporate FCM with multicriteria decision making algorithm, especially to reflect user's preference. This study aims to integrate DMQEA with FCM to build models according to user's preference. In robotics field, the interaction with human operators is an important issue and DMQEA-FCM can aid robots in their decision making process in the context of the interaction.

关键词： Sociology Statistics Optimization Robots Sorting Biological system modeling Heuristic algorithms

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Semantic segmentation of urban scenes with enhanced spatial contexts

Semantic segmentation of urban scenes with enhanced spatial ...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Jeonghyeon Wang Jinwhan Kim Robotics Program KAIST Daejeon Korea Department Of Mechanical Engineering KAIST Daejeon Korea

This paper proposes a method to solve the image segmentation problem effectively by applying local spatial relations. The proposed method is based on the conjecture that spatially neighboring objects have a higher probability of relating each other than nonadjacent objects. Using depth information from 3D lidar, spatial contextual information between image segments is obtained. This information is modeled in the framework of Conditional Random Field to penalize distant objects that are likely to have no particular relation between them. The proposed method is evaluated on the publicly available image dataset, and it shows better global and class classification rates compared to the previous state-of-the-art work.

关键词： Three-dimensional displays Encoding Buildings Robot sensing systems

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Efficient visual SLAM using selective image registration for autonomous inspection of underwater structures

Efficient visual SLAM using selective image registration for...

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Symposium on Autonomous Underwater Vehicle Technology (AUV)

作者： Seonghun Hong Jinwhan Kim Robotics Program KAIST Daejeon Korea Department of Mechanical Engineering KAIST Daejeon Korea

ISBN: (纸本)9781509024438

Visual inspection of underwater structures including ship-hull inspection has been performed by human divers. It is a highly dangerous task and thus can be a potential application for unmanned underwater vehicles. This paper introduces an efficient visual simultaneous localization and mapping (SLAM) algorithm that can be applied to the autonomous inspection of underwater structures. Considering that visual features are sparsely located on the surface of typical underwater structures, the proposed visual SLAM algorithm employs a selective image registration scheme consisting of key-frame selection and key-pair selection. By using only potentially effective images and image pairs for feature-based image registration, the computational burden of the visual SLAM can be substantially reduced, compared with the conventional method. Experimental results using a hover-capable unmanned underwater vehicle verify the practical feasibility and performance of the proposed methodology.

关键词： Visualization Simultaneous localization and mapping Image registration Feature extraction Cameras Inspection Dogs

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Three-dimensional reconstruction of a semi-submersible offshore platform with an unmanned surface vehicle

Three-dimensional reconstruction of a semi-submersible offsh...

引用

OCEANS - Europe

作者： Jungwook Han Minju Kang Jeonghyeon Wang Jinwhan Kim Department of Mechanical Engineering Robotics Program KAIST Daejeon Korea

ISBN: (纸本)9781467397254

This paper addresses the three-dimensional (3D) reconstruction of a floating structure with an unmanned surface vehicle (USV). Onboard lidar and sonar sensors are employed to collect a volumetric point cloud of the structure both above and below the waterline. These measurements are obtained in the vehicle-fixed frame; thus, for successful 3D reconstruction, precision estimation of trajectory and attitude is required. GPS signals are severely deteriorated or unavailable near and under floating structures. Therefore, relative navigation with respect to the planar surfaces of their hull structures is performed in the framework of simultaneous localization and mapping (SLAM). This approach enables high-precision navigation and mapping near and under a large floating structure. A field experiment was performed in a semi-submersible offshore platform environment and the results are presented.

关键词： Three-dimensional displays Vehicles Laser radar Sensors Surface reconstruction Sonar navigation Sonar

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Super Ray based Updates for Occupancy Maps

Super Ray based Updates for Occupancy Maps

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IEEE International Conference on robotics and Automation

作者： Youngsun Kwon Donghyuk Kim Sung-eui Yoon Robotics Program KAIST Daejeon South Korea are at School of Computing KAIST Daejeon South Korea

ISBN: (纸本)9781467380270

We present a novel approach, Super Ray, for efficiently updating map representations such as grids and octrees with point clouds. In this paper, we define a super ray for points as a representative ray to them with an associated frustum. A super ray is constructed in a way that updating those points has the same set of cells accessed during the map update process. As a result, we can perform the update process with a super ray in a single traversal on the map, resulting in performance improvement without compromising any representation accuracy of the map. For constructing super rays efficiently, we propose mapping lines for handling 2-D and 3-D cases from an observation that edges or grid points branch out the access pattern of updating the map. Our method is general enough to be applied for variety of occupancy map structures based on axis-aligned space subdivisions such as grids and octrees. We test our method into indoor and outdoor benchmarks, and achieve 2.5 times on average (up to 3.5 times) performance improvement over the state-of-the-art update method for OctoMap and grid maps.

关键词： Occupancy Maps efficiently updating map update process

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Anytime RRBT for handling uncertainty and dynamic objects

Anytime RRBT for handling uncertainty and dynamic objects

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hyunchul Yang Jongwoo Lim Sung-eui Yoon Robotics Program KAIST Daejeon South Korea Division of Computer Science and Engineering Hanyang University Seoul South Korea School of Computing KAIST Daejeon South Korea

ISBN: (纸本)9781509037636

We present an efficient anytime motion planner for mobile robots that considers both other dynamic obstacles and uncertainty caused by various sensors and low-level controllers. Our planning algorithm, which is an anytime extension of the Rapidly-exploring Random Belief Tree (RRBT), maintains the best possible path throughout the robot execution, and the generated path gets closer to the optimal one as more computation resources are allocated. We propose a branch-and-bound method to cull out unpromising areas by considering path lengths and uncertainty. We also propose an uncertainty-aware velocity obstacle as a simple local analysis to avoid dynamic obstacles efficiently by finding a collision-free velocity. We have tested our method with three benchmarks that have non-linear measurement regions or potential collisions with dynamic obstacles. By using the proposed methods, we achieve up to five times faster performance given a fixed path cost.

关键词： Uncertainty Mobile robots LOW LEVEL Byways Branch and bound methods barriers

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Cogent Confabulation-based Hierarchical Behavior Planner for Task Performance

Cogent Confabulation-based Hierarchical Behavior Planner for...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Se-Hyoung Cho Seung-Hwan Baek Deok-Hwa Kim Yong-Ho Yoo Sanghyun Cho Jong-Hwan Kim Robotics Program KAIST 291 Daehak-ro Yuseong-gu Daejeon 305-701 Republic of Korea School of Electrical Engineering

ISBN: (纸本)9781509018987

This paper proposes a novel hierarchical behavior planner with a multi-layered confabulation based behavior selection structure for robots to perform tasks. The proposed planner integrates a STRIPS based behavior selection approach and cogent confabulation approach. The STRIPS based behavior selection approach is a goal tree search that induces goaloriented sequences of behaviors, while the cogent confabulation approach is based on conditional probabilities between input symbols and target behaviors, aims to model human thinking mechanism. Our planner is applied with a set of behaviors defined in a multi-layered structure to show that it can plan a hierarchical sequences of behaviors to perform given tasks. The effectiveness and applicability of the proposed scheme is demonstrated through the experiments with the robot Mybot, developed in the Robot Intelligence Technology Lab. at kaist.

关键词： behaviors perform demonstrated task performance Ribbon Device Component confabulation Behavior Demonstrate Robot multilayers Hierarchical

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