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2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献

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Dynamic Hand Gesture Recognition for Robot Arm Teaching based on Improved LRCN Model 基于改进LRCN模型的机械臂教学动态手势识别
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961787
Kaixiang Luan, T. Matsumaru
{"title":"Dynamic Hand Gesture Recognition for Robot Arm Teaching based on Improved LRCN Model","authors":"Kaixiang Luan, T. Matsumaru","doi":"10.1109/ROBIO49542.2019.8961787","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961787","url":null,"abstract":"In this research, we focus on finding a new method of human-robot interaction in industrial environment. A vision-based dynamic hand gestures recognition system has been proposed for robot arm picking task. 8 dynamic hand gestures are captured for this task with a 100fps high speed camera. Based on the LRCN model, we combine the MobileNets (V2) and LSTM for this task, the MobileNets (V2) for extracting the image features and recognize the gestures, then, Long Short-Term Memory (LSTM) architecture for interpreting the features across time steps. Around 100 samples are taken for each gesture for training at first, then, the samples are augmented to 200 samples per gesture by data augmentation. Result shows that the model is able to learn the gestures varying in duration and complexity and gestures can be recognized in 88ms with 90.62% accuracy in the experiment on our hand gesture dataset.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128547335","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
An Improved Local Dynamic Path Planning Algorithm for Autonomous Driving 一种改进的自动驾驶局部动态路径规划算法
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961468
Huakang Chen, Pengju Chen, Haiying Liu, J. Gu, Lixia Deng, Juanting Zhou, Huiyuan Zhou
{"title":"An Improved Local Dynamic Path Planning Algorithm for Autonomous Driving","authors":"Huakang Chen, Pengju Chen, Haiying Liu, J. Gu, Lixia Deng, Juanting Zhou, Huiyuan Zhou","doi":"10.1109/ROBIO49542.2019.8961468","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961468","url":null,"abstract":"In this paper, an improved autonomous driving local dynamic path planning algorithm is proposed. Based on the predefined road center points, a set of path control points is constructed, and a one-dimensional cubic equation is used to fit the path and construct a center line. A new curved coordinate system is provided using the center line, and the path candidates are generated by arc length and lateral offset. The overall path is selected in consideration of the total cost of path safety and comfort. The results showed that under different scenarios, the proposed local path planning algorithm can plan an optimal path that does not collide with static obstacles, and can ensure the comfort of autonomous driving vehicles and the real-time path planning.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129355829","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: 0
A calibration method with anistropic weighting for LiDAR and stereo camera system 激光雷达与立体相机系统的各向异性加权标定方法
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961460
Wei Wang, Yang Liu, Rui Chen, Jing Xu
{"title":"A calibration method with anistropic weighting for LiDAR and stereo camera system","authors":"Wei Wang, Yang Liu, Rui Chen, Jing Xu","doi":"10.1109/ROBIO49542.2019.8961460","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961460","url":null,"abstract":"Calibrating the extrinsic matrices between sensors is a significant pre-processing step of sensor fusion. Most of existing calibration methods use point-based rigid registration algorithm which considers the point coordinate error isotropic and uses the least square solution to estimate the extrinsic matrices. However, the error distribution of point coordinates is anisotropic due to the internal measurement properties of sensors, leading to decreased calibration accuracy. To solve this problem, we proposed an anisotropy weighting method: first we construct weighting matrices based on error distributions models of sensors; second we use surveying adjustment to further improve the calibration accuracy iteratively. We verified the effectiveness of our method through simulations. Compared with traditional methods, the accuracy is improved by about 45%. Moreover, our method can be applied in most of calibration methods to reduce the influence of anisotropic data and improve the accuracy.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129732853","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: 0
Global Output-Feedback Stabilization for a Class of Stochastic Nonlinear Systems 一类随机非线性系统的全局输出反馈镇定
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961690
Yu Shao, Mingchu Xu
{"title":"Global Output-Feedback Stabilization for a Class of Stochastic Nonlinear Systems","authors":"Yu Shao, Mingchu Xu","doi":"10.1109/ROBIO49542.2019.8961690","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961690","url":null,"abstract":"This paper aims to solve the global output-feedback stabilization problem for a class of stochastic nonlinear systems by combining observer construction and backstepping technique. Considering the fact that the system state is unmeasurable except for the output, a parameter gain is introduced to dominate nonlinearities and diffusion terms in the design of linear observer, and the backstepping is used to construct the actual output-feedback controller. A stochastic simulation example is provided to illustrate the effectiveness of the control strategy.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"487 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129818298","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: 6
A 3DoF Pose Estimation Method for Multi-Trolley from a Single RGB Image 基于单幅RGB图像的多台车3DoF姿态估计方法
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961830
Xiaomeng Liu, Wenbo Han, Shuang Song, M. Meng
{"title":"A 3DoF Pose Estimation Method for Multi-Trolley from a Single RGB Image","authors":"Xiaomeng Liu, Wenbo Han, Shuang Song, M. Meng","doi":"10.1109/ROBIO49542.2019.8961830","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961830","url":null,"abstract":"3DoF pose estimation for multi-trolley is pivotal in Automatic Collection Trolley Robot System. Because of the challenge of occlusion and low-resolution problem, the existing methods do not solve these problems well. In this paper we propose a 3DoF pose estimation method for multi-trolley based on the keypoints from a single RGB image. The proposed method is divided into three steps: Firstly, YOLOv3 is used to detect the trolley in a RGB image and crop the trolley individually. Secondly a new network including two parts is proposed for detecting the 2D keypoints of the trolley. One part called DetectNet is used for detecting easy keypoints, while the other part called HardNet is for detecting hard keypoints under occlusion followed by post-processing for finetuning. Finally, 3DoF pose estimation of a trolley can be obtained by the corresponding relationship between the 2D keypoints and the real 3D keypoints in trolley 3D model. Experiments have been carried out to validate the proposed model. The results show that our approach is accuracy and robust for 3DoF pose estimation of trolley.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127433641","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: 0
CyberEarth: a Virtual Simulation Platform for Robotics and Cyber-Physical Systems 赛博地球:机器人与信息物理系统的虚拟仿真平台
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961433
Xiaoyang Zhang, Hongpeng Wang, Jingtai Liu, Haifeng Li
{"title":"CyberEarth: a Virtual Simulation Platform for Robotics and Cyber-Physical Systems","authors":"Xiaoyang Zhang, Hongpeng Wang, Jingtai Liu, Haifeng Li","doi":"10.1109/ROBIO49542.2019.8961433","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961433","url":null,"abstract":"The increasing sophisticated robot and intelligent system applications require universal visualization platforms which can guarantee the security and efficiency of task process execution in the situation of user-programming and using different kinds of automated equipment. In this paper, we present a universal visualization framework to build up program-driven simulation software of complex robots and intelligent systems by integrating several open-source technical modules, including Ubuntu Linux operation-system, QT Creator IDE environment, ROS robot operation system, OSG(OpenSceneGraph) 3D scene, osgEarth GIS(Geographic Information System)-based 3D scene, and also Python based user-programing robotic script language. Many complex visualization simulation systems of complex tasks in wide area and dynamic scenarios are realized by using this framework. Based on this framework, we built a virtual simulation platform CyberEarth for robotics and Cyber-Physical systems. The typical robotic simulation task, which is a visual coverage task for Multi-Agent/UAV, is also introduced to demonstration the universality of this platform.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127031872","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: 2
Verifications of Delay Compensation for a Hybrid Motion Table* 混合运动表延迟补偿的验证*
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961402
Chenkun Qi, Yan Hu, Dongjin Li, F. Gao, Fengbo Dong, D. Zhang
{"title":"Verifications of Delay Compensation for a Hybrid Motion Table*","authors":"Chenkun Qi, Yan Hu, Dongjin Li, F. Gao, Fengbo Dong, D. Zhang","doi":"10.1109/ROBIO49542.2019.8961402","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961402","url":null,"abstract":"This study considers the time delay problem of the hybrid motion table. A motion table is designed using the 3-3 parallel mechanisms to guarantee the static stiffness and dynamic performance. The time delay in the system loops is compensated to guarantee the hybrid simulation accuracy. The effects of the table parameters (sensor delay and dynamic response frequency) and the contact parameters (contact natural frequency, contact stiffness and initial velocity) on the hybrid simulation results are investigated by simulations and experiments. They show that the simulation instability can be compensated by the approach under different table parameters and contact parameters.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127301797","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: 0
Salient Object Detection based on Multiple Priors Fusion* 基于多先验融合的显著目标检测*
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961569
Zhongli Wang, G. Tian
{"title":"Salient Object Detection based on Multiple Priors Fusion*","authors":"Zhongli Wang, G. Tian","doi":"10.1109/ROBIO49542.2019.8961569","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961569","url":null,"abstract":"Salient object detection can be utilized to detect the most significant regions in various environments, which has been regarded as foundation of computer vision. Different saliency models use different prior or knowledge. We propose a multi priors fusion method for saliency measure, which integrates background prior with foreground prior and center prior. Firstly, through each boundary of the image, we can get four saliency maps, and fuse them to get the background prior saliency map. Secondly, we utilize boundary extension method to highlight regions, and these regions can be regarded as the queries of manifold ranking for the foreground prior saliency map. Thirdly, the corners on the image are obtained, filtered by the foreground region, and then clustered into a point as the center of Gaussian model, which is used to calculate the center prior saliency map. Finally, the above three kinds of prior-based saliency maps are fused via the proposed fusion framework to gain a better final saliency map. Compared with fifteen methods, the experimental results on ECSSD and MSRA10K show that our proposed method achieves better saliency detection results.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129952479","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: 1
A novel tactile sensor based on structured light 一种基于结构光的新型触觉传感器
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961786
Yuanlong Yu, Hongxiang Xue, Zhenzhen Liang
{"title":"A novel tactile sensor based on structured light","authors":"Yuanlong Yu, Hongxiang Xue, Zhenzhen Liang","doi":"10.1109/ROBIO49542.2019.8961786","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961786","url":null,"abstract":"In this paper, we have developed a tactile sensor based on the working principle of structured light. It solves the problem that structured light systems are highly susceptible to ambient light and require frequent calibration. And the structural light principle is applied to the robot operation process, that the robot can acquire the three-dimensional structure information of the object during the operation process, without worrying that the robot will block the camera and affect the reconstruction effect during the robot operation. The main components of the tactile sensor are two cameras, a transparent elastomer, and an adhesion layer pattern. In the experiment, we used the sensor to reconstruct a roman column model in three dimensions, in which the adhesion layer pattern is a structured light pattern coded by the spatial coding method. The results show that the tactile sensor developed in this paper can be used for three-dimensional reconstruction of contact objects with good results. The 3D reconstruction accuracy of the sensor designed in this paper is 0.4mm.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129025920","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: 0
AFM Calibration of Nano-friction through Estimating Meniscus Water Membrane Contour between Single Polystyrene Nano-particle and Silicon Surface 单聚苯乙烯纳米粒子与硅表面间半月板水膜轮廓的AFM校正
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI: 10.1109/ROBIO49542.2019.8961456
S. Yuan, Tianshu Chu, Liyong Ma, J. Hou, Junhai Wang
{"title":"AFM Calibration of Nano-friction through Estimating Meniscus Water Membrane Contour between Single Polystyrene Nano-particle and Silicon Surface","authors":"S. Yuan, Tianshu Chu, Liyong Ma, J. Hou, Junhai Wang","doi":"10.1109/ROBIO49542.2019.8961456","DOIUrl":"https://doi.org/10.1109/ROBIO49542.2019.8961456","url":null,"abstract":"In a certain humidity environment, the meniscus water membrane will greatly affect the nano-friction between the nano-particle and the substrate in the process of AFM nano-manipulation. Herein, a mathematical model for estimating the meniscus water membrane contour using infinitesimal iteration is employed, then near-spherical polystyrene nano-particles with radius from 50 nm to 300 nm were deposited on a silicon wafer for experiments using AFM after the tip is positioned and the friction between the nanoparticle and the substrate is measured. By analyzing the relationship between friction and effective contact area of water membrane and comparing with the existing work, the correctness and effectiveness of the method are proved.","PeriodicalId":121822,"journal":{"name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132450436","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: 0
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