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Geometry matters: Place recognition in 2D range scans using Geometrical Surface Relations 几何问题:使用几何表面关系在2D范围扫描中进行位置识别
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324185
Marian Himstedt, E. Maehle
{"title":"Geometry matters: Place recognition in 2D range scans using Geometrical Surface Relations","authors":"Marian Himstedt, E. Maehle","doi":"10.1109/ECMR.2015.7324185","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324185","url":null,"abstract":"Place recognition is a fundamental requirement for mobile robots. It is particularly needed for detecting loop closures in SLAM and to enable self-localization for mobile robots given a prior map. The multitude of existing approaches rely on appearance based methods, e.g. the extraction of interest points in terms of local extrema. It can be observed that the availability of these features is highly environment specific and the limited descriptiveness causes a large number of false-positive matches. This paper utilizes a generic environment description based on normal surface primitives. The association of different places is done using Geometrical Surface Relations (GSR) of co-occurring primitives. Experimental results obtained from publicly available datasets demonstrate that GSR outperforms state-of-the-art approaches in place recognition for large scale outdoor as well as indoor environments.","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":"128685755","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: 12
Rapid free-space mapping from a single omnidirectional camera 快速自由空间映射从一个单一的全向相机
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324222
Robert Lukierski, Stefan Leutenegger, A. Davison
{"title":"Rapid free-space mapping from a single omnidirectional camera","authors":"Robert Lukierski, Stefan Leutenegger, A. Davison","doi":"10.1109/ECMR.2015.7324222","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324222","url":null,"abstract":"Low-cost robots such as floor cleaners generally rely on limited perception and simple algorithms, but some new models now have enough sensing capability and computation power to enable Simultaneous Localisation And Mapping (SLAM) and intelligent guided navigation. In particular, computer vision is now a serious option in low cost robotics, though its use to date has been limited to feature-based mapping for localisation. Dense environment perception such as free space finding has required additional specialised sensors, adding expense and complexity. Here we show that a robot with a single passive omnidirectional camera can perform rapid global free-space reasoning within typical rooms. Upon entering a new room, the robot makes a circular movement to capture a closely-spaced omni image sequence with disparity in all horizontal directions. feature-based visual SLAM procedure obtains accurate poses for these frames before passing them to a dense matching step, 3D semi-dense reconstruction and visibility reasoning. The result is turned into a 2D occupancy map, which can be improved and extended if necessary through further movement. This rapid, passive technique can capture high quality free space information which gives a robot a global understanding of the space around it. We present results in several scenes, including quantitative comparison with laser-based mapping.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"32 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":"124110585","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: 15
Towards evasive maneuvers with quadrotors using dynamic vision sensors 采用动态视觉传感器的四旋翼飞行器规避机动
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324048
Elias Mueggler, Nathan Baumli, Flavio Fontana, D. Scaramuzza
{"title":"Towards evasive maneuvers with quadrotors using dynamic vision sensors","authors":"Elias Mueggler, Nathan Baumli, Flavio Fontana, D. Scaramuzza","doi":"10.1109/ECMR.2015.7324048","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324048","url":null,"abstract":"We present a method to predict collisions with objects thrown at a quadrotor using a pair of dynamic vision sensors (DVS). Due to the micro-second temporal resolution of these sensors and the sparsity of their output, the object's trajectory can be estimated with minimal latency. Unlike standard cameras that send frames at a fixed frame rate, a DVS only transmits pixel-level brightness changes (“events”) at the time they occur. Our method tracks spherical objects on the image plane using probabilistic trackers that are updated with each incoming event. The object's trajectory is estimated using an Extended Kalman Filter with a mixed state space that allows incorporation of both the object's dynamics and the measurement noise in the image plane. Using error-propagation techniques, we predict a collision if the 3σ-ellipsoid along the predicted trajectory intersects with a safety sphere around the quadrotor. We experimentally demonstrate that our method allows initiating evasive maneuvers early enough to avoid collisions.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"222 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":"124414724","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: 34
Inexpensive, reliable and localization-free navigation using an RFID floor 使用RFID地板的廉价、可靠和无定位导航
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324204
A. Khaliq, F. Pecora, A. Saffiotti
{"title":"Inexpensive, reliable and localization-free navigation using an RFID floor","authors":"A. Khaliq, F. Pecora, A. Saffiotti","doi":"10.1109/ECMR.2015.7324204","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324204","url":null,"abstract":"Stigmergy is a principle observed in nature, in which animals store in the environment information to be used for communication or navigation. Stigmergy has recently been exploited in robotics: simple robots store a goal distance field in read-write RFID tags embedded in the floor, and later follow the gradient of this field to navigate optimally to that goal. Stigmergic navigation is localization-free, since robots only rely on the values read from the tags and do not need to know their own location. This makes navigation inexpensive (no ranging sensors) and reliable (no localization failures). To make this approach viable in practice, two issues need to be addressed: how to simplify the installation of an RFID floor; and how to follow the field gradient in a reliable way. This paper presents solutions to both problems. The solutions are validated through experiments performed on simulated and on real robots.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"14 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":"132401850","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: 16
Vision-based Markov localization across large perceptual changes 基于视觉的马尔可夫定位在大的感知变化
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324181
Tayyab Naseer, Benjamin Suger, M. Ruhnke, Wolfram Burgard
{"title":"Vision-based Markov localization across large perceptual changes","authors":"Tayyab Naseer, Benjamin Suger, M. Ruhnke, Wolfram Burgard","doi":"10.1109/ECMR.2015.7324181","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324181","url":null,"abstract":"Recently, there has been significant progress towards lifelong, autonomous operation of mobile robots, especially in the field of localization and mapping. One important challenge in this context is visual localization under substantial perceptual changes, for example, coming from different seasons. In this paper, we present an approach to localize a mobile robot with a low frequency camera with respect to an image sequence, recorded previously within a different season. Our approach uses a discrete Bayes filter and a sensor model based on whole image descriptors. Thereby it exploits sequential information to model the dynamics of the system. Since we compute a probability distribution over the whole state space, our approach can handle more complex trajectories that may include same season loop-closures as well as fragmented sub-sequences. Throughout an extensive experimental evaluation on challenging datasets, we demonstrate that our approach outperforms state-of-the-art techniques.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"103 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":"134420357","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: 12
OLT: A Toolkit for Object Labeling applied to robotic RGB-D datasets OLT:一个用于机器人RGB-D数据集的对象标记工具包
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324214
J. Ruiz-Sarmiento, C. Galindo, Javier González
{"title":"OLT: A Toolkit for Object Labeling applied to robotic RGB-D datasets","authors":"J. Ruiz-Sarmiento, C. Galindo, Javier González","doi":"10.1109/ECMR.2015.7324214","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324214","url":null,"abstract":"In this work we present the Object Labeling Toolkit (OLT), a set of software components publicly available for helping in the management and labeling of sequential RGB-D observations collected by a mobile robot. Such a robot can be equipped with an arbitrary number of RGB-D devices, possibly integrating other sensors (e.g. odometry, 2D laser scanners, etc.). OLT first merges the robot observations to generate a 3D reconstruction of the scene from which object segmentation and labeling is conveniently accomplished. The annotated labels are automatically propagated by the toolkit to each RGB-D observation in the collected sequence, providing a dense labeling of both intensity and depth images. The resulting objects' labels can be exploited for many robotic oriented applications, including high-level decision making, semantic mapping, or contextual object recognition. Software components within OLT are highly customizable and expandable, facilitating the integration of already-developed algorithms. To illustrate the toolkit suitability, we describe its application to robotic RGB-D sequences taken in a home environment.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"99 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":"133581590","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: 12
Event-based control strategy for the guidance of the Aerosonde UAV 基于事件的空探无人机制导控制策略
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324213
R. Socas, S. Dormido, R. Dormido
{"title":"Event-based control strategy for the guidance of the Aerosonde UAV","authors":"R. Socas, S. Dormido, R. Dormido","doi":"10.1109/ECMR.2015.7324213","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324213","url":null,"abstract":"In this work we focus on the development of a new control strategy for the guidance of the Aerosonde UAV. An event-based control strategy has been developed with controllers that have a high efficiency in communication resources usage. The architecture that it is proposed has two principal parameters: the event threshold e̅ and the minimum inter-events time Tmin which permit to set the accuracy of the system and the communication bus efficiency. A test laboratory has been implemented in Matlab/Simulink environment and in the flight simulator FlightGear for testing the system. The event-based controller has been checked in perturbed environments (atmospheric gusts and sensor noise) and also it has been compared with a classical discrete-time PI controller. The results obtained show that this new strategy has a high efficiency in communication resources with a similar accuracy than the classical discrete-time control strategy.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"10 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":"114262108","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
Planning of multiple robot trajectories in distinctive topologies 不同拓扑下的多机器人轨迹规划
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324179
Christoph Rösmann, F. Hoffmann, T. Bertram
{"title":"Planning of multiple robot trajectories in distinctive topologies","authors":"Christoph Rösmann, F. Hoffmann, T. Bertram","doi":"10.1109/ECMR.2015.7324179","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324179","url":null,"abstract":"This contribution presents a novel approach for efficient online planning of topologically distinctive mobile robot trajectories. Trajectory optimization deforms an initial coarse path drafted by a global planner with respect to robot motion related objectives and constraints. The primary objective is to reach a goal state in minimal time on a collision free path that adheres to the kinematic and dynamic constraints of the mobile robot. Conventional local planners get often stuck in a local optimal trajectory as they are unable to transit across obstacles. Our approach seeks the globally optimal trajectory as it maintains and optimizes a subset of admissible candidate trajectories of distinctive topologies in parallel. In case of dynamic environments the planner switches to the current globally optimal trajectory among the candidate set. The online trajectory planning with timed elastic bands is tightly integrated with the robot motion feedback control. The comparative analysis with conventional local planners confirms the advantages of maintaining distinctive topologies to circumnavigate dynamic obstacles.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"26 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":"125416706","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: 62
A fast probabilistic ego-motion estimation framework for radar 雷达自运动快速概率估计框架
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324046
M. Rapp, M. Barjenbruch, K. Dietmayer, Markus Hahn, J. Dickmann
{"title":"A fast probabilistic ego-motion estimation framework for radar","authors":"M. Rapp, M. Barjenbruch, K. Dietmayer, Markus Hahn, J. Dickmann","doi":"10.1109/ECMR.2015.7324046","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324046","url":null,"abstract":"This paper presents a fast, joint spatial- and Doppler velocity-based, probabilistic approach for ego-motion estimation for single and multiple radar-equipped robots. The normal distribution transform is used for the fast and accurate position matching of consecutive radar detections. This registration technique is successfully applied to laser-based scan matching. To overcome discontinuities of the original normal distribution approach, an appropriate clustering technique provides a globally smooth mixed-Gaussian representation. It is shown how this matching approach can be significantly improved by taking the Doppler information into account. The Doppler information is used in a density-based approach to extend the position matching to a joint likelihood optimization function. Then, the estimated ego-motion maximizes this function. Large-scale real world experiments in an urban environment using a 77 GHz radar show the robust and accurate ego-motion estimation of the proposed algorithm. In the experiments, comparisons are made to state-of-the-art algorithms, the vehicle odometry, and a high-precision inertial measurement unit.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"8 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":"125709921","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: 27
On benchmarking of frontier-based multi-robot exploration strategies 基于边界的多机器人探索策略的标杆测试
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324183
J. Faigl, Miroslav Kulich
{"title":"On benchmarking of frontier-based multi-robot exploration strategies","authors":"J. Faigl, Miroslav Kulich","doi":"10.1109/ECMR.2015.7324183","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324183","url":null,"abstract":"This paper tackles an evaluation and comparison of frontier-based exploration strategies to create a grid map of unknown environment by a team of autonomous mobile robots. A strategy is considered as a set of procedures to determine promising goal candidates, allocate them to the robots, and select the next navigational goal for each robot. A mobile robot is a complex system with many components that affect the mission performance and a comparison of different strategies in real experiments can be performed only for a particular system setup and with only partial controllability of important parameters. Therefore, the reproducibility and repeatability of such a comparison are not satisfied. In this paper, we propose a methodology for evaluating exploration strategies and provide a benchmark for a comparison of frontier-based approaches in a well-defined evaluation environment. The proposed methodology is demonstrated on a comparison of five state-of-the-art task-allocation strategies in multi-robot exploration.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"45 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":"129208823","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: 40
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