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2018 4th International Conference on Control, Automation and Robotics (ICCAR)最新文献

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Loop closure detection in SLAM by combining visual CNN features and submaps 结合视觉CNN特征和子地图的SLAM闭环检测
2018 4th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2018-04-01 DOI: 10.1109/ICCAR.2018.8384713
Hao Qin, May Huang, Jian Cao, Xing Zhang
{"title":"Loop closure detection in SLAM by combining visual CNN features and submaps","authors":"Hao Qin, May Huang, Jian Cao, Xing Zhang","doi":"10.1109/ICCAR.2018.8384713","DOIUrl":"https://doi.org/10.1109/ICCAR.2018.8384713","url":null,"abstract":"Using simultaneous localization and mapping (SLAM) with 2D LIDAR is an efficient approach for robots to build a floor plan, but it is sensitive to the environment. For improving the accuracy, we match LIDAR data with sub-maps. Furthermore, we convert LIDAR data to images and merge with camera data for image matching. Combining the two approaches, we achieve robust and accurate loop closure detection. The descriptors generated by CNN model will be used as features to image matching for accuracy improvement.","PeriodicalId":106624,"journal":{"name":"2018 4th International Conference on Control, Automation and Robotics (ICCAR)","volume":"288 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124156540","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 13
Mechanical analysis of remotely operated vehicle 遥控车辆的力学分析
2018 4th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2018-04-01 DOI: 10.1109/ICCAR.2018.8384717
Z. Guan, Dong Zhang, Ming-xing Lin, Jianjin Li
{"title":"Mechanical analysis of remotely operated vehicle","authors":"Z. Guan, Dong Zhang, Ming-xing Lin, Jianjin Li","doi":"10.1109/ICCAR.2018.8384717","DOIUrl":"https://doi.org/10.1109/ICCAR.2018.8384717","url":null,"abstract":"Ocean is a strategic development base of biology, energy, water and metal. It has great potential for development. Underwater vehicle is necessary equipment for explore the underwater resources. So this project intends to develop underwater vehicle equipment. In the paper, the virtual prototype established based on ADAMS is introduced and then analyze the mechanical model. At last, the experiment is done in shallow sea. The experiment shows that self-development remotely operated vehicle can satisfy with the usage requirements.","PeriodicalId":106624,"journal":{"name":"2018 4th International Conference on Control, Automation and Robotics (ICCAR)","volume":"451 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129487603","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
6D pose estimation using an improved method based on point pair features 基于点对特征的改进6D姿态估计方法
2018 4th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2018-02-23 DOI: 10.1109/ICCAR.2018.8384709
Joel Vidal, Chyi-Yeu Lin, R. Martí
{"title":"6D pose estimation using an improved method based on point pair features","authors":"Joel Vidal, Chyi-Yeu Lin, R. Martí","doi":"10.1109/ICCAR.2018.8384709","DOIUrl":"https://doi.org/10.1109/ICCAR.2018.8384709","url":null,"abstract":"The Point Pair Feature [4] has been one of the most successful 6D pose estimation method among model-based approaches as an efficient, integrated and compromise alternative to the traditional local and global pipelines. During the last years, several variations of the algorithm have been proposed. Among these extensions, the solution introduced by Hinterstoisser et al. [6] is a major contribution. This work presents a variation of this PPF method applied to the SIXD Challenge datasets presented at the 3rd International Workshop on Recovering 6D Object Pose held at the ICCV 2017. We report an average recall of 0.77 for all datasets and overall recall of 0.82, 0.67, 0.85, 0.37, 0.97 and 0.96 for hinterstoisser, tless, tudlight, rutgers, tejani and doumanoglou datasets, respectively.","PeriodicalId":106624,"journal":{"name":"2018 4th International Conference on Control, Automation and Robotics (ICCAR)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115363671","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 95
Performance analysis and dexterity monitoring of hexapod-based simulator 六足模拟器的性能分析与灵巧性监测
2018 4th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 1900-01-01 DOI: 10.1109/ICCAR.2018.8384675
Mohammad Reza Chalak Qazani, Houshyar Asadi, Siamak Pedrammehr, S. Nahavandi
{"title":"Performance analysis and dexterity monitoring of hexapod-based simulator","authors":"Mohammad Reza Chalak Qazani, Houshyar Asadi, Siamak Pedrammehr, S. Nahavandi","doi":"10.1109/ICCAR.2018.8384675","DOIUrl":"https://doi.org/10.1109/ICCAR.2018.8384675","url":null,"abstract":"Washout filter is in demand to generate the vehicle acceleration and angular velocities with high loyalty to make the best realistic motion. The limitation of the simulator's moving platform is an integral part of every motion simulator. Adaptive and model predictive control washout filters contribute with this limitation online. It is necessary to have a real vision to the workspace limitation which is needed for unpredicted next step of the simulator. In this paper dexterity analysis is addressed as a novel method to monitor the performance accuracy of the simulator. The dexterity of both the classical and optimal washout filters are compared. Finally, it is shown that the dexterity analysis in optimal washout filter is necessary to avoid the workspace limitations.","PeriodicalId":106624,"journal":{"name":"2018 4th International Conference on Control, Automation and Robotics (ICCAR)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127109032","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 26
A novel axis symmetric parallel mechanism with coaxial actuated arms 一种同轴驱动臂的新型轴对称并联机构
2018 4th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 1900-01-01 DOI: 10.1109/ICCAR.2018.8384723
Siamak Pedrammehr, Mohammad Reza Chalak Qazani, S. Nahavandi
{"title":"A novel axis symmetric parallel mechanism with coaxial actuated arms","authors":"Siamak Pedrammehr, Mohammad Reza Chalak Qazani, S. Nahavandi","doi":"10.1109/ICCAR.2018.8384723","DOIUrl":"https://doi.org/10.1109/ICCAR.2018.8384723","url":null,"abstract":"Axis symmetric manipulators have the advantages of large workspace, continuous angular rotation, high acceleration, and high-velocity motions. In this research, a novel axis symmetric parallel manipulator (Pentarm) is introduced. The analytical model of the kinematics of the Pentarm is established. The kinematics model is then used for workspace analysis of the Pentarm.","PeriodicalId":106624,"journal":{"name":"2018 4th International Conference on Control, Automation and Robotics (ICCAR)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124674150","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 24
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