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2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)最新文献

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A distributed MPC framework for road-following formation control of car-like vehicles 一种用于类车车辆道路跟随编队控制的分布式MPC框架
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838837
Xiangjun Qian, Florent Altché, A. D. L. Fortelle, F. Moutarde
{"title":"A distributed MPC framework for road-following formation control of car-like vehicles","authors":"Xiangjun Qian, Florent Altché, A. D. L. Fortelle, F. Moutarde","doi":"10.1109/ICARCV.2016.7838837","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838837","url":null,"abstract":"This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and with other vehicles in a highly structured environment, 2) dynamic reconfiguration of the formation to handle different task specifications. In this paper, we design a local MPC-based trajectory planner for each individual vehicle to follow a reference trajectory while satisfying the various kinematic and dynamic constraints of the vehicles as well as collision avoidance and formation-keeping requirements. The reference trajectory of a vehicle is computed from its leader's trajectory, based on a predefined formation tree. We use logic rules to organize the collision avoidance behaviors of member vehicles. Moreover, we propose a methodology to safely reconfigure the formation on-the-fly. The proposed framework has been validated using high-fidelity simulations.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130701213","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
An image matching system for autonomous UAV navigation based on neural network 基于神经网络的无人机自主导航图像匹配系统
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838775
J. Braga, H. Velho, G. Conte, P. Doherty, E. H. Shiguemori
{"title":"An image matching system for autonomous UAV navigation based on neural network","authors":"J. Braga, H. Velho, G. Conte, P. Doherty, E. H. Shiguemori","doi":"10.1109/ICARCV.2016.7838775","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838775","url":null,"abstract":"This paper proposes an image matching system using aerial images, captured in flight time, and aerial geo-referenced images to estimate the Unmanned Aerial Vehicle (UAV) position in a situation of Global Navigation Satellite System (GNSS) failure. The image matching system is based on edge detection in the aerial and geo-referenced image and posterior automatic image registration of these edge-images (position estimation of UAV). The edge detection process is performed by an Artificial Neural Network (ANN), with an optimal architecture. A comparison with Sobel and Canny edge extraction filters is also provided. The automatic image registration is obtained by a cross-correlation process. The ANN optimal architecture is set by the Multiple Particle Collision Algorithm (MPCA). The image matching system was implemented in a low cost/consumption portable computer. The image matching system has been tested on real flight-test data and encouraging results have been obtained. Results using real flight-test data will be presented.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115540254","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: 35
A target tracking realization method of UAV simulation training system 一种无人机仿真训练系统目标跟踪的实现方法
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838616
Kai Song, Hong Xu, Yan Ding, Hao Li
{"title":"A target tracking realization method of UAV simulation training system","authors":"Kai Song, Hong Xu, Yan Ding, Hao Li","doi":"10.1109/ICARCV.2016.7838616","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838616","url":null,"abstract":"In this paper, based on the virtual scene images generated by the Unity3D engine, a target tracking realization method in UAV(Unmanned Aerial Vehicle) simulation training system is proposed. To realize the target tracking steadily, the LOS(line of sight) tracking model utilizing the target pixel offset in the consecutive frame image and the velocity tracking model are established. Meanwhile, a digital integral algorithm is applied to reduce the errors of the tracking. The experimental results show that the method given in this paper can drive the virtual camera optical axis to keep the step of LOS and realize the target tracking efficiently.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"329 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115968963","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: 7
An adaptive detection approach for autonomous forest path following using stereo vision 基于立体视觉的自主森林路径跟踪自适应检测方法
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838670
P. Fleischmann, J. Kneip, K. Berns
{"title":"An adaptive detection approach for autonomous forest path following using stereo vision","authors":"P. Fleischmann, J. Kneip, K. Berns","doi":"10.1109/ICARCV.2016.7838670","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838670","url":null,"abstract":"In this paper, an image-based segmentation method to improve autonomous robot navigation in the forest is presented. The detection is supported by a filtered image generated from a stereo-based pre-processing which is a byproduct of our obstacles detection system. To cope with the large variability of forest paths, the classifier is dynamically adapted to the current situation and the segmentation relies on different image features to ensure robustness against illumination changes. Furthermore, it is summarized how the detection results are transformed to the 3D space, using a plane which is extracted from the stereo data, to be stored and maintained in a probabilistic grid map.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124300539","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: 7
EKF based distributed cooperative localization for a multirobot team 基于EKF的多机器人团队分布式协同定位
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838791
Chuxi Li, Jieying Lu, W. Su
{"title":"EKF based distributed cooperative localization for a multirobot team","authors":"Chuxi Li, Jieying Lu, W. Su","doi":"10.1109/ICARCV.2016.7838791","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838791","url":null,"abstract":"This paper studies distributed cooperative localization problem for a multirobot team with one leader and two followers. Each robot in the team is equipped local sensors and can exchange data with its neighbors through wireless communication network. A distributed localization algorithm is developed by using extended Kalman filter (EKF) scheme. In every sampling period, each member in the team estimates its local state based on its local measurements and neighbor's state estimation information sent from its neighbors at current sampling time or last sampling time. A simulation result shows that the algorithm is feasible.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124331044","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
Constrained sigma points for attitude estimation 约束西格玛点姿态估计
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838848
Thomas Braud, Nizar Ouarti
{"title":"Constrained sigma points for attitude estimation","authors":"Thomas Braud, Nizar Ouarti","doi":"10.1109/ICARCV.2016.7838848","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838848","url":null,"abstract":"The Kalman filter is considered as an optimal filter with the hypothesis of gaussian noise and linear model. For nonlinear model several approaches have been proposed and Unscented Kalman Filter (UKF) seems to be one of the most accurate. In this study, we wonder if an appropriate constraint can enhance the efficiency of UKF. We propose a new algorithm called Constrained Sigma Points (CGS) that constrained the sigma points with a nonlinear observer constraint. Here, our research is based on attitude estimation and the constraint is related to attitude. We evaluate its performance compared to the state of the art of non-linear fusion filters, i.e. Multiplicative Extended Kalman Filter (MEKF), UnScented QUaternion Estimator, Quaternion estimate (QUEST) and a nonlinear observer (CGO). Our results show that our algorithm leads to better results in term of accuracy with an effective duration of computation. In future works, we will determine how this new constraint can be generalised to different kind of nonlinear models.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124586995","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
Environment characterization using Laplace eigenvalues 利用拉普拉斯特征值进行环境表征
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838769
E. Mihankhah, Danwei W. Wang
{"title":"Environment characterization using Laplace eigenvalues","authors":"E. Mihankhah, Danwei W. Wang","doi":"10.1109/ICARCV.2016.7838769","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838769","url":null,"abstract":"This paper introduces a new methodology for environment characterization. This methodology is based on analysis of the eigenvalues of Laplace-Beltrami operator over 3 dimensional point clouds. Recognizing revisited places can be facilitated by characterizing the environment through a descriptor. The idea of analyzing point clouds using the eigenvalues of Laplace-Beltrami operator for characterization of an environment can be used for place detection which is a critical functionality of autonomous mobile robots. Place detection is a requirement for transition detection in multi environment missions, common frame identification in multi robot mapping, and detection of previously visited location in SLAM for loop closure phase.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114363104","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
Development of a novel post-construction quality assessment robot system 一种新型施工后质量评估机器人系统的研制
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838741
Rui-Jun Yan, Chin Leong Low, Jinjun Duan, Lili Liu, E. Kayacan, I. Chen, R. Tiong
{"title":"Development of a novel post-construction quality assessment robot system","authors":"Rui-Jun Yan, Chin Leong Low, Jinjun Duan, Lili Liu, E. Kayacan, I. Chen, R. Tiong","doi":"10.1109/ICARCV.2016.7838741","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838741","url":null,"abstract":"Utilizing construction quality standards for almost perfect building projects ensures future marketability of projects, customer satisfaction and maximization of asset value. This paper describes a novel robot system to autonomously assess the post-construction quality of buildings which is currently done manually by using human inspectors. However, manual inspection always has the disadvantages, such as labile inspection accuracy, being time consuming and indistinct recording. As a novel solution to the aforementioned drawbacks, a mobile robot is equipped with a laser scanner, a thermal camera, an inclinometer and a RGB camera to achieve an autonomous assessment system. This proposed system can assess five types of defects: evenness, alignment, cracks, hollowness, and inclination. A movable trolley with different mechanisms are designed to mount and integrate all these sensors. Its mechanical design with four motors and one linear actuator, which are installed to increase the measurement range of sensors, is also presented. The experimental tests show that the proposed system has a great potential in construction quality assessment area in building sector.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114511349","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
Interactive objet d'art based on IoT technology 基于物联网技术的交互式艺术品
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838748
T. Sakai, Haruya Tamaki, Yosuke Ota, Hiromi Tominaga, F. Kusunoki, H. Mizoguchi
{"title":"Interactive objet d'art based on IoT technology","authors":"T. Sakai, Haruya Tamaki, Yosuke Ota, Hiromi Tominaga, F. Kusunoki, H. Mizoguchi","doi":"10.1109/ICARCV.2016.7838748","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838748","url":null,"abstract":"Applying Internet of Things (IoT) technology to art can open up new possibilities for the interaction between systems and humans. In this study, interaction between appreciators and fine art was realized using Ion technology. Raspberry Pi, a low-cost credit card-sized single-board computer, was used to enable appreciators to change animations displayed onscreen in fine art using physical movement. This paper reports on our realization of interaction between appreciators and objet d'art using IoT technology and describes a demonstration conducted via an exhibition that was open to the public.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117261080","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
Control system based on pressure distribution for wearable assist robot on multi-joint body part 基于压力分布的可穿戴辅助机器人多关节身体部位控制系统
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838706
Naoya Uchiyama, Yuki Funabora, S. Doki, K. Doki
{"title":"Control system based on pressure distribution for wearable assist robot on multi-joint body part","authors":"Naoya Uchiyama, Yuki Funabora, S. Doki, K. Doki","doi":"10.1109/ICARCV.2016.7838706","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838706","url":null,"abstract":"Wearable assist robots deliver power in form of direct contacts with the user, therefore, safety control is considered to be the prior requirement for wearable assist robots. To improve safety, the robot needs to be controlled based on the current contact state feedback. As a state estimation concept approach, a feedback control system based on joint torque has been proposed. The principle of this approach is that the physical contact forces appear as a certain change in measured joint torque. However, as the joint torque is the resultant of contact forces, the case of user is in danger contact state may not be detected. In this paper, a new control system based on pressure distribution is proposed. Utilizing the pressure sensors directly mounted on the robot's link surface, the robot is controlled to suppress excessive contact forces. On computer simulations, the proposed system was confirmed to be effective to improve safety.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"32 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116318761","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
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