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SEMAP - a semantic environment mapping framework
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324176
Henning Deeken, T. Wiemann, K. Lingemann, J. Hertzberg
{"title":"SEMAP - a semantic environment mapping framework","authors":"Henning Deeken, T. Wiemann, K. Lingemann, J. Hertzberg","doi":"10.1109/ECMR.2015.7324176","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324176","url":null,"abstract":"This paper presents the SEMAP framework designed to maintain and analyze the spatial data of a multi-modal environment model. SEMAP uses a spatial database at its core to store metric data and link it to semantic descriptions via semantic annotation. Through in-built and custom-made spatial operators of a PostGIS database, we enable the spatial analysis of quantitative metric data, which we then use in the context of semantic mapping. We use SEMAP to query for task-specific sets of spatial and semantic data, to create semantically augmented metric navigation maps, and to extract implicit topological information from geometric data.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129181661","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: 11
Magnetic field SLAM exploration: Frequency domain Gaussian processes and informative route planning 磁场SLAM探索:频域高斯过程与资讯路线规划
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324202
Anssi Kemppainen, Ilari Vallivaara, J. Röning
{"title":"Magnetic field SLAM exploration: Frequency domain Gaussian processes and informative route planning","authors":"Anssi Kemppainen, Ilari Vallivaara, J. Röning","doi":"10.1109/ECMR.2015.7324202","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324202","url":null,"abstract":"In this paper, we consider magnetic field SLAM exploration using a mobile robot with a magnetometer and wheel encoders. We propose computationally feasible solutions to model magnetic fields using frequency domain Gaussian processes. In addition, we propose a path planning algorithm to efficiently collect a given level of accuracy for magnetic field models. The path planning is based on partition of shortest paths into blocks with similar information content and implementing depth-first search among these blocks. Finally, we propose an exploration-exploitation algorithm enabling real-world mobile robot SLAM exploration solutions with motion uncertainties. SLAM is presented with Rao-Blackwellized particle filters where robot's path hypothesis are presented with particles together with a separate magnetic field model for each particle. We conducted SLAM exploration experiments using real magnetic field data in a simulated environment. Simulation parameters were tuned to approximate ICreate robot's motion uncertainties and MicroMag3 magnetometer's sensor noise, together with the robot's inclination uncertainties. Simulations demonstrated for the first time that we were able to build actual magnetic field SLAM exploration. The results indicate that, with frequency domain Gaussian processes, we are able to obtain desirable convergence of path distribution, although, with the selected particle filter SLAM approach, the localization accuracy was not desirable.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117348321","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
Semi-supervised semantic labeling of adaptive cell decomposition maps in well-structured environments 结构良好环境下自适应细胞分解图的半监督语义标注
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324207
Saeed Gholami Shahbandi, B. Åstrand, Roland Philippsen
{"title":"Semi-supervised semantic labeling of adaptive cell decomposition maps in well-structured environments","authors":"Saeed Gholami Shahbandi, B. Åstrand, Roland Philippsen","doi":"10.1109/ECMR.2015.7324207","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324207","url":null,"abstract":"We present a semi-supervised approach for semantic mapping, by introducing human knowledge after unsupervised place categorization has been combined with an adaptive cell decomposition of an occupancy map. Place categorization is based on clustering features extracted from raycasting in the occupancy map. The cell decomposition is provided by work we published previously, which is effective for the maps that could be abstracted by straight lines. Compared to related methods, our approach obviates the need for a low-level link between human knowledge and the perception and mapping sub-system, or the onerous preparation of training data for supervised learning. Application scenarios include intelligent warehouse robots which need a heightened awareness in order to operate with a higher degree of autonomy and flexibility, and integrate more fully with inventory management systems. The approach is shown to be robust and flexible with respect to different types of environments and sensor setups.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127923379","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
A geometric approach to multiple viewpoint human body pose estimation 多视点人体姿态估计的几何方法
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324195
M. Lora, S. Ghidoni, Matteo Munaro, E. Menegatti
{"title":"A geometric approach to multiple viewpoint human body pose estimation","authors":"M. Lora, S. Ghidoni, Matteo Munaro, E. Menegatti","doi":"10.1109/ECMR.2015.7324195","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324195","url":null,"abstract":"People detection and re-identification is a crucial capability for mobile robots working in a human environment, as well as for human-robot interaction. Re-identification systems can be based on the observation of a number of cues, including the analysis of the human body pose, that can be accurately detected analyzing RGB-D data, currently widely used in robot vision. On the other hand, intelligent video surveillance is going towards multi-viewpoint RGB camera systems: skeletal trackers working on images are currently unable to provide performance similar to those based on 3D data. To overcome such flaws, this paper proposes a method for merging together the results provided by a body pose estimation algorithm observing the same scene from different viewpoints: this enhances the accuracy level, and lets the system recover 3D information, leading to a target representation which is more similar to the one obtained using 3D sensors. Such similarity is a first step to achieve a stronger cooperation between robots and camera networks, a capability that opens new scenarios in robotics.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130922127","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
KAIRO 3: Moving over stairs & unknown obstacles with reconfigurable snake-like robots KAIRO 3:用可重构的蛇形机器人移动楼梯和未知障碍物
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324209
L. Pfotzer, M. Staehler, Andreas Hermann, A. Rönnau, R. Dillmann
{"title":"KAIRO 3: Moving over stairs & unknown obstacles with reconfigurable snake-like robots","authors":"L. Pfotzer, M. Staehler, Andreas Hermann, A. Rönnau, R. Dillmann","doi":"10.1109/ECMR.2015.7324209","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324209","url":null,"abstract":"We present a planning approach for complex motions of reconfigurable snake-like robots to overcome challenging obstacles like stairs or large steps. The current robot configuration as well as different optimization criteria like distance, time or energy, are taken into account. The planning time remains unaffected by the amount of robot modules by combining the planning method with a follow-the-leader control approach. Implementation details on the developed method are presented and extensively evaluated with the reconfigurable snake-like inspection robot KAIRO 3 in three different scenarios. Our results show that the approach enables snake-like robots to overcome previously unknown obstacles according to their robot configuration.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125077996","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: 21
Model-driven self-adaptation of robotics software using probabilistic approach 基于概率方法的机器人软件模型驱动自适应
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324220
Arunkumar Ramaswamy, B. Monsuez, A. Tapus
{"title":"Model-driven self-adaptation of robotics software using probabilistic approach","authors":"Arunkumar Ramaswamy, B. Monsuez, A. Tapus","doi":"10.1109/ECMR.2015.7324220","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324220","url":null,"abstract":"A typical feature of robotic architectures are its reactivity and self-adaptivity. In practice, this is achieved by context-dependent dynamic invocation of software components in robotic architectures. In this paper, we specifically address how this self-adaptation capability can be formally defined and modeled in an architecture-independent way. We propose a probabilistic approach that facilitates system design and dynamic runtime adaptation satisfying the quality requirements. We also show how such techniques are incorporated in our model-driven framework: Self Adaptive Framework for Robotic Systems.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115626807","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
Evaluation of registration methods for sparse 3D laser scans 稀疏三维激光扫描配准方法评价
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324196
Jan Razlaw, David Droeschel, D. Holz, Sven Behnke
{"title":"Evaluation of registration methods for sparse 3D laser scans","authors":"Jan Razlaw, David Droeschel, D. Holz, Sven Behnke","doi":"10.1109/ECMR.2015.7324196","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324196","url":null,"abstract":"The registration of 3D laser scans is an important task in mapping applications. For the task of mapping with autonomous micro aerial vehicles (MAVs), we have developed a light-weight 3D laser scanner. Since the laser scanner is rotated quickly for fast omnidirectional obstacle perception, the acquired point clouds are particularly sparse and registration becomes challenging. In this paper, we present a thorough experimental evaluation of registration algorithms in order to determine the applicability of both the scanner and the registration algorithms. Using the estimated poses of the MAV, we aim at building local egocentric maps for both collision avoidance and 3D mapping. We use multiple metrics for assessing the quality of the different pose estimates and the quality of the resulting maps. In addition, we determine for all algorithms optimal sets of parameters for the challenging data. We make the recorded datasets publicly available and present results showing both the best suitable registration algorithm and the best parameter sets as well as the quality of the estimated poses and maps.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130800069","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
Using hybrid planning for plan reparation 利用混合规划进行计划修复
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324201
Patrick Bechon, M. Barbier, C. Lesire, G. Infantes, V. Vidal
{"title":"Using hybrid planning for plan reparation","authors":"Patrick Bechon, M. Barbier, C. Lesire, G. Infantes, V. Vidal","doi":"10.1109/ECMR.2015.7324201","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324201","url":null,"abstract":"In this work we propose a plan repair algorithm designed to be used in a real-life setting for a team of autonomous robots. This algorithm is built on top of a hybrid planner. This planner mixes partial order planning and hierarchical planning. This allows the creation of a plan with temporal flexibility while using human knowledge to improve the search process. Simulation shows that repairing increases the number of solved problems or at least reduces the number of plans explored. The algorithm uses the same hierarchical knowledge as the underlying planner, thus needing no more human modelling to properly run. We show that using this knowledge can help the reparation, even when some half-executed abstract actions are present in the plan.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129263521","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: 11
Line-of-sight-based ToF camera's range image filtering for precise 3D scene reconstruction 基于视距的ToF相机范围图像滤波，用于精确的3D场景重建
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324208
V. K. Ghorpade, P. Checchin, L. Trassoudaine
{"title":"Line-of-sight-based ToF camera's range image filtering for precise 3D scene reconstruction","authors":"V. K. Ghorpade, P. Checchin, L. Trassoudaine","doi":"10.1109/ECMR.2015.7324208","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324208","url":null,"abstract":"A new method to filter jump edges in the range images produced from Time-of-Flight (ToF) camera is described, implemented and evaluated. SwissRanger camera like any other ToF camera have systematic and non-systematic errors. Systematic errors are predictable and can often be removed by calibration, whereas non-systematic are unpredictable and removed by applying filters. Jump edges are non-systematic errors which are seen as smooth often irregular sigmoid shape or curved transition between two surfaces. A new method which removes the jump edges has been proposed and compared with another method which is most cited and used. The comparison is based on the quality of filtered image, computation time for filtering and also its impact on registration of successive scans and reconstruction of the whole scene.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116614011","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
Robot navigation in hand-drawn sketched maps 机器人导航在手绘草图地图
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324188
Federico Boniardi, Bahram Behzadian, Wolfram Burgard, Gian Diego Tipaldi
{"title":"Robot navigation in hand-drawn sketched maps","authors":"Federico Boniardi, Bahram Behzadian, Wolfram Burgard, Gian Diego Tipaldi","doi":"10.1109/ECMR.2015.7324188","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324188","url":null,"abstract":"Many navigation systems for mobile robots use a metrical map for localization and trajectory planning. In several situations, however, building such a map upfront is hard or even impossible. In this paper, we present a combined approach for robot localization and navigation solely relying on a hand-drawn sketch of the environment. In our work we model the sketch as a two-dimensional manifold with an unknown metric. We use Monte Carlo Localization for estimating the state of the robot in combination with the local deformation of the sketch. Accordingly, our approach can track both, the pose of the robot and the local metric properties of the drawing. Furthermore, we couple the pose tracker with a path planner that uses the global information of the sketch and the estimated local metric to robustly perform navigation tasks in real world environments.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121317889","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: 25
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