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Probabilistic Primitive Refinement algorithm for colored point cloud data 彩色点云数据的概率基元细化算法
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324199
Johan Ekekrantz, Akshaya Thippur, John Folkesson, P. Jensfelt
{"title":"Probabilistic Primitive Refinement algorithm for colored point cloud data","authors":"Johan Ekekrantz, Akshaya Thippur, John Folkesson, P. Jensfelt","doi":"10.1109/ECMR.2015.7324199","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324199","url":null,"abstract":"In this work we present the Probabilistic Primitive Refinement (PPR) algorithm, an iterative method for accurately determining the inliers of an estimated primitive (such as planes and spheres) parametrization in an unorganized, noisy point cloud. The measurement noise of the points belonging to the proposed primitive surface are modelled using a Gaussian distribution and the measurements of extraneous points to the proposed surface are modelled as a histogram. Given these models, the probability that a measurement originated from the proposed surface model can be computed. Our novel technique to model the noisy surface from the measurement data does not require a priori given parameters for the sensor noise model. The absence of sensitive parameters selection is a strength of our method. Using the geometric information obtained from such an estimate the algorithm then builds a color-based model for the surface, further boosting the accuracy of the segmentation. If used iteratively the PPR algorithm can be seen as a variation of the popular mean-shift algorithm with an adaptive stochastic kernel function.","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":"115322530","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
Life-long spatio-temporal exploration of dynamic environments 动态环境的终身时空探索
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-09-01 DOI: 10.1109/ECMR.2015.7324052
T. Krajník, J. M. Santos, T. Duckett
{"title":"Life-long spatio-temporal exploration of dynamic environments","authors":"T. Krajník, J. M. Santos, T. Duckett","doi":"10.1109/ECMR.2015.7324052","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324052","url":null,"abstract":"We propose a new idea for life-long mobile robot spatio-temporal exploration of dynamic environments. Our method assumes that the world is subject to perpetual change, which adds an extra, temporal dimension to the explored space and makes the exploration task a never-ending data-gathering process. To create and maintain a spatio-temporal model of a dynamic environment, the robot has to determine not only where, but also when to perform observations. We address the problem by application of information-theoretic exploration to world representations that model the uncertainty of environment states as probabilistic functions of time. We compare the performance of different exploration strategies and temporal models on real-world data gathered over the course of several months and show that combination of dynamic environment representations with information-gain exploration principles allows to create and maintain up-to-date models of constantly changing environments.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133734221","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: 23
Generation of probabilistic graphs for path planning from stochastic maps 从随机地图中生成路径规划的概率图
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-09-01 DOI: 10.1109/ECMR.2015.7403770
P. Urcola, M. T. Lázaro, J. A. Castellanos, L. Montano
{"title":"Generation of probabilistic graphs for path planning from stochastic maps","authors":"P. Urcola, M. T. Lázaro, J. A. Castellanos, L. Montano","doi":"10.1109/ECMR.2015.7403770","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7403770","url":null,"abstract":"This paper presents a method to automatically generate probabilistic graphs for path planning out of stochastic maps. A sample based technique is used to generate a set of paths from which a graph structure of the map is built. The nodes of the graph represent places in the map and the edges the paths between those places, which are labelled with the cost of traversing the edge and the probability of being navigable. We provide results of the proposed method using different types of stochastic maps such as feature-based maps, occupancy grid maps and pose graph maps.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124408976","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
Image features and seasons revisited 图像特征和季节重新审视
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-09-01 DOI: 10.1109/ECMR.2015.7324193
T. Krajník, P. Cristóforis, M. Nitsche, Keerthy Kusumam, T. Duckett
{"title":"Image features and seasons revisited","authors":"T. Krajník, P. Cristóforis, M. Nitsche, Keerthy Kusumam, T. Duckett","doi":"10.1109/ECMR.2015.7324193","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324193","url":null,"abstract":"We present an evaluation of standard image features in the context of long-term visual teach-and-repeat mobile robot navigation, where the environment exhibits significant changes in appearance caused by seasonal weather variations and daily illumination changes. We argue that in the given long-term scenario, the viewpoint, scale and rotation invariance of the standard feature extractors is less important than their robustness to the mid- and long-term environment appearance changes. Therefore, we focus our evaluation on the robustness of image registration to variable lighting and naturally-occurring seasonal changes. We evaluate the image feature extractors on three datasets collected by mobile robots in two different outdoor environments over the course of one year. Based on this analysis, we propose a novel feature descriptor based on a combination of evolutionary algorithms and Binary Robust Independent Elementary Features, which we call GRIEF (Generated BRIEF). In terms of robustness to seasonal changes, the GRIEF feature descriptor outperforms the other ones while being computationally more efficient.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115510548","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: 30
That's on my mind! robot to human intention communication through on-board projection on shared floor space 我一直在想这件事!机器人与人类的意图交流通过车载投影在共享的地板空间
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-09-01 DOI: 10.1109/ECMR.2015.7403771
R. Chadalavada, Henrik Andreasson, R. Krug, A. Lilienthal
{"title":"That's on my mind! robot to human intention communication through on-board projection on shared floor space","authors":"R. Chadalavada, Henrik Andreasson, R. Krug, A. Lilienthal","doi":"10.1109/ECMR.2015.7403771","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7403771","url":null,"abstract":"The upcoming new generation of autonomous vehicles for transporting materials in industrial environments will be more versatile, flexible and efficient than traditional AGVs, which simply follow pre-defined paths. However, freely navigating vehicles can appear unpredictable to human workers and thus cause stress and render joint use of the available space inefficient. Here we address this issue and propose on-board intention projection on the shared floor space for communication from robot to human. We present a research prototype of a robotic fork-lift equipped with a LED projector to visualize internal state information and intents. We describe the projector system and discuss calibration issues. The robot's ability to communicate its intentions is evaluated in realistic situations where test subjects meet the robotic forklift. The results show that already adding simple information, such as the trajectory and the space to be occupied by the robot in the near future, is able to effectively improve human response to the robot.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"1079 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116029044","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: 129
Towards fully autonomous energy efficient Coverage Path Planning for autonomous mobile robots on 3D terrain 面向全自主节能的三维地形自主移动机器人覆盖路径规划
2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-09-01 DOI: 10.1109/ECMR.2015.7324206
Sedat Dogru, Lino Marques
{"title":"Towards fully autonomous energy efficient Coverage Path Planning for autonomous mobile robots on 3D terrain","authors":"Sedat Dogru, Lino Marques","doi":"10.1109/ECMR.2015.7324206","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324206","url":null,"abstract":"Coverage Path Planning (CPP) is an essential problem in many applications of robotics, including but not limited to autonomous de-mining and farming. Most works on CPP address time efficiency or coverage completeness in a bi-dimensional and flat environment, not taking the terrain relief into account. In this paper we use a Genetic Algorithm to optimize the solution to the CPP problem in terms of energy consumption, taking into account the constraints of natural terrains: obstacles and relief. Instead of requiring an elevation map of the environment, we also propose an autonomous sparse sampling of the environment which is used in conjunction with Kriging to successfully model the relief of the environment. Field tests confirm our energy consumption model for the robot, and simulation results show that our approach is effective in reducing energy consumption of a mobile robot performing CPP.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"501 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129980208","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: 10
Stereo odometry based on careful feature selection and tracking 基于仔细的特征选择和跟踪的立体里程计
2015 European Conference on Mobile Robots (ECMR) Pub Date : 1900-01-01 DOI: 10.1109/ECMR.2015.7324219
Igor Cvisic, I. Petrović
{"title":"Stereo odometry based on careful feature selection and tracking","authors":"Igor Cvisic, I. Petrović","doi":"10.1109/ECMR.2015.7324219","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324219","url":null,"abstract":"In this paper we present a novel algorithm for fast and robust stereo visual odometry based on feature selection and tracking (SOFT). The reduction of drift is based on careful selection of a subset of stable features and their tracking through the frames. Rotation and translation between two consecutive poses are estimated separately. The five point method is used for rotation estimation, whereas the three point method is used for estimating translation. Experimental results show that the proposed algorithm has an average pose error of 1.03% with processing speed above 10 Hz. According to publicly available KITTI leaderboard, SOFT outperforms all other validated methods. We also present a modified IMU-aided version of the algorithm, fast and suitable for embedded systems. This algorithm employs an IMU for outlier rejection and Kalman filter for rotation refinement. Experiments show that the IMU based system runs at 20 Hz on an ODROID U3 ARM-based embedded computer without any hardware acceleration. Integration of all components is described and experimental results are presented.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"14 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":"124393301","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: 119
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