2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)最新文献_第2页

Extrinsic Calibration of 2D Laser Range Finders using Planar Features 基于平面特征的二维激光测距仪外部定标

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733654

Bernardo Lourenço, Paulo Oliveira, Miguel Oliveira

{"title":"Extrinsic Calibration of 2D Laser Range Finders using Planar Features","authors":"Bernardo Lourenço, Paulo Oliveira, Miguel Oliveira","doi":"10.1109/ICARSC.2019.8733654","DOIUrl":"https://doi.org/10.1109/ICARSC.2019.8733654","url":null,"abstract":"2D Laser Range Finders, or 2D-LRFs, are essential sensors in the field of robotics, providing accurate range measurements with high angular resolution. These sensors can be assembled on top of systems which, by granting additional degrees of freedom to the movement of the LRF, enable the 3D reconstruction of a scene. The reconstruction procedure consists of the concatenation of each scan in a single point cloud representation. To do so, the extrinsic transformation between the LRF and the motorized system, in this case, a Pan-tilt unit, must be known with high accuracy, otherwise, the quality of the 3D reconstructed point clouds is insufficient. In this work, a calibration procedure which determines this transformation is proposed. The method does not require a dedicated marker, which is commonly necessary and has numerous disadvantages. Qualitative inspections show that the proposed method is able to significantly reduce artifacts which typically appear on uncalibrated point clouds. Furthermore, quantitative results demonstrate that the calibrated point cloud represents the geometries present in the scene with much higher accuracy when compared with the uncalibrated point cloud.","PeriodicalId":198320,"journal":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126190385","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: 4

Scratchy: A Lightweight Modular Autonomous Robot for Robotic Competitions Scratchy:用于机器人比赛的轻量级模块化自主机器人

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733655

Raphael Memmesheimer, Isabelle Kuhlmann, M. Mints, Patrik Schmidt, Christian Korbach, Ida Germann, D. Paulus

{"title":"Scratchy: A Lightweight Modular Autonomous Robot for Robotic Competitions","authors":"Raphael Memmesheimer, Isabelle Kuhlmann, M. Mints, Patrik Schmidt, Christian Korbach, Ida Germann, D. Paulus","doi":"10.1109/ICARSC.2019.8733655","DOIUrl":"https://doi.org/10.1109/ICARSC.2019.8733655","url":null,"abstract":"We present Scratchy-a modular, lightweight robot built for low budget competition attendances. Its base is mainly built with standard 4040 aluminium profiles and the robot is driven by four mecanum wheels on brushless DC motors. In combination with a laser range finder we use estimated odometry - which is calculated by encoders - for creating maps using a particle filter. A RGB-D camera is utilized for object detection and pose estimation. Additionally, there is the option to use a 6-DOF arm to grip objects from an estimated pose or generally for manipulation tasks. The robot can be assembled in less than one hour and fits into two pieces of hand luggage or one bigger suitcase. Therefore, it provides a huge advantage for student teams that participate in robot competitions like the European Robotics League or RoboCup. Thus, this keeps the funding required for participation, which is often a big hurdle for student teams to overcome, low. The software and additional hardware descriptions are available under: https://github.com/homer-robotics/scratchy.","PeriodicalId":198320,"journal":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129894780","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

Online Recognition-by- Tracking with Deep Appearance and Facial Features in a Robotic Environment 机器人环境中具有深度外观和面部特征的在线跟踪识别

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733656

Rui G. Figueiredo, R. Figueiredo, A. Bernardino, J. Santos-Victor

引用次数: 0

Modeling of video projectors in OpenGL for implementing a spatial augmented reality teaching system for assembly operations 基于OpenGL的视频投影仪建模，实现装配操作的空间增强现实教学系统

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733617

Carlos M. Costa, G. Veiga, A. Sousa, Luís F. Rocha, António Augusto de Sousa, R. Rodrigues, Ulrike Thomas

{"title":"Modeling of video projectors in OpenGL for implementing a spatial augmented reality teaching system for assembly operations","authors":"Carlos M. Costa, G. Veiga, A. Sousa, Luís F. Rocha, António Augusto de Sousa, R. Rodrigues, Ulrike Thomas","doi":"10.1109/ICARSC.2019.8733617","DOIUrl":"https://doi.org/10.1109/ICARSC.2019.8733617","url":null,"abstract":"Teaching complex assembly and maintenance skills to human operators usually requires extensive reading and the help of tutors. In order to reduce the training period and avoid the need for human supervision, an immersive teaching system using spatial augmented reality was developed for guiding inexperienced operators. The system provides textual and video instructions for each task while also allowing the operator to navigate between the teaching steps and control the video playback using a bare hands natural interaction interface that is projected into the workspace. Moreover, for helping the operator during the final validation and inspection phase, the system projects the expected 3D outline of the final product. The proposed teaching system was tested with the assembly of a starter motor and proved to be more intuitive than reading the traditional user manuals. This proof of concept use case served to validate the fundamental technologies and approaches that were proposed to achieve an intuitive and accurate augmented reality teaching application. Among the main challenges were the proper modeling and calibration of the sensing and projection hardware along with the 6 DoF pose estimation of objects for achieving precise overlap between the 3D rendered content and the physical world. On the other hand, the conceptualization of the information flow and how it can be conveyed on-demand to the operator was also of critical importance for ensuring a smooth and intuitive experience for the operator.","PeriodicalId":198320,"journal":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132969049","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

xSS: A Soccer Server extension for automated learning of high-level robotic soccer strategies xSS:用于自动学习高水平机器人足球策略的Soccer Server扩展

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733635

Miguel Abreu, R. Rossetti, L. Reis

{"title":"xSS: A Soccer Server extension for automated learning of high-level robotic soccer strategies","authors":"Miguel Abreu, R. Rossetti, L. Reis","doi":"10.1109/ICARSC.2019.8733635","DOIUrl":"https://doi.org/10.1109/ICARSC.2019.8733635","url":null,"abstract":"A solution for an optimal robotic soccer strategy is yet to be found. Multiple agents interacting in an environment with continuous state and action spaces is a recipe for machine learning lethargy. Fortunately, due to the increasing hardware performance and new algorithms, the area of reinforcement learning is growing considerably. However, simulating the environment for strategy purposes is not following this trend. Several simulators are available, including those used in major soccer competitions (e.g. RoboCup). However, no option combines a good repository of teams with a simple command set that abstracts low-level actions. To clarify this problem, we surveyed the most promising simulators and proposed an extension for the well-established Soccer Server. The objective was to simplify the process of learning strategy-related behaviors through automated optimization algorithms. The results have shown a clear advantage in using the extension to improve the agent's performance. This work contributes to the development of future strategies related with RoboCup or other soccer competitions. Despite the good results, there is space for improvement in computational efficiency and behavior diversity.","PeriodicalId":198320,"journal":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116722170","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

Learning low level skills from scratch for humanoid robot soccer using deep reinforcement learning 使用深度强化学习从头开始学习低级技能的人形机器人足球

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733632

Miguel Abreu, N. Lau, A. Sousa, L. Reis

{"title":"Learning low level skills from scratch for humanoid robot soccer using deep reinforcement learning","authors":"Miguel Abreu, N. Lau, A. Sousa, L. Reis","doi":"10.1109/ICARSC.2019.8733632","DOIUrl":"https://doi.org/10.1109/ICARSC.2019.8733632","url":null,"abstract":"Reinforcement learning algorithms are now more appealing than ever. Recent approaches bring power and tuning simplicity to the everyday work machine. The possibilities are endless, and the idea of automating learning without domain knowledge is quite tempting for many researchers. However, in competitive environments such as the RoboCup 3D Soccer Simulation League, there is a lot to be done regarding humanlike behaviors. Current teams use many mechanical movements to perform basic skills, such as running and dribbling the ball. This paper aims to use the PPO algorithm to optimize those skills, achieving natural gaits without sacrificing performance. We use Simspark to simulate a NAO humanoid robot, using visual and body sensors to control its actuators. Based on our results, we propose an indirect control approach and detailed parameter setups to obtain natural running and dribbling behaviors. The obtained performance is in some cases comparable or better than the top RoboCup teams. However, some skills are not ready to be applied in competitive environments yet, due to instability. This work contributes towards the improvement of RoboCup and some related technical challenges.","PeriodicalId":198320,"journal":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131806152","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: 20

Feature detection using Hidden Markov Models for 3D-visual recognition 基于隐马尔可夫模型的3d视觉识别特征检测

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733651

Carlos Sarmiento, J. Savage, Alfredo Juarez, Luis Angel Contreras-Toledo, A. Pacheco, Mauricio Matamoros

引用次数: 3

Parallelization of a Vine Trunk Detection Algorithm For a Real Time Robot Localization System 实时机器人定位系统中藤干检测算法的并行化

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733644

F. Azevedo, Pranjali Shinde, L. Santos, Jorge Mendes, F. Santos, H. Mendonça

{"title":"Parallelization of a Vine Trunk Detection Algorithm For a Real Time Robot Localization System","authors":"F. Azevedo, Pranjali Shinde, L. Santos, Jorge Mendes, F. Santos, H. Mendonça","doi":"10.1109/ICARSC.2019.8733644","DOIUrl":"https://doi.org/10.1109/ICARSC.2019.8733644","url":null,"abstract":"Developing ground robots for crop monitoring and harvesting in steep slope vineyards is a complex challenge due to two main reasons: harsh condition of the terrain and unstable localization accuracy obtained with Global Navigation Satellite System (GNSS). In this context, a reliable localization system requires an accurate detector for high density of natural/artificial features. In previous works, we presented a novel visual detector for Vineyards Trunks and Masts (ViTruDe) with high levels of detection accuracy. However, its implementation on the most common processing units - central processing units (CPU), using a standard programming language (C/C++), is unable to reach the processing efficiency requirements for real time operation. In this work, we explored parallelization capabilities of processing units, such as graphics processing units (GPU), in order to accelerate the processing time of ViTruDe. This work gives a general perspective on how to parallelize a generic problem in a GPU based solution, while exploring its efficiency when applied to the problem at hands. The ViTruDe detector for GPU was developed considering the constraints of a cost-effective robot to carry-out crop monitoring tasks in steep slope vineyard environments. We compared the proposed ViTruDe implementation on GPU using Compute Unified Compute Unified Device Architecture(CUDA) and CPU, and the achieved solution is over eighty times faster than its CPU counterpart. The training and test data are made public for future research work. This approach is a contribution for an accurate and reliable localization system that is GNSS-free.","PeriodicalId":198320,"journal":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"310 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131896022","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

Detecting Robotic Anomalies using RobotChain 使用RobotChain检测机器人异常

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733618

Vasco Lopes, L. Alexandre

引用次数: 14

Converting Robot Offline Programs to Native Code Using the AdaptPack Studio Translators 使用AdaptPack Studio翻译器将机器人离线程序转换为本机代码

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733631

J. P. Souza, A. Castro, Luís F. Rocha, P. Relvas, M. Silva

{"title":"Converting Robot Offline Programs to Native Code Using the AdaptPack Studio Translators","authors":"J. P. Souza, A. Castro, Luís F. Rocha, P. Relvas, M. Silva","doi":"10.1109/ICARSC.2019.8733631","DOIUrl":"https://doi.org/10.1109/ICARSC.2019.8733631","url":null,"abstract":"The increase in productivity is a demand for modern industries that need to be competitive in the actual business scenario. To face these challenges, companies are increasingly using robotic systems for end-of-line production tasks, such as wrapping and palletizing, as a mean to enhance the production line efficiency and products traceability, allowing human operators to be moved to more added value operations. Despite this increasing use of robotic systems, these equipments still present some inconveniences regarding the programming procedure, as the time required for its execution does not meet the current industrial needs. To face this drawback, offline robot programming methods are gaining great visibility, as their flexibility and programming speed allows companies to face the need of successive changes in the production line set-up. However, even with a great number of robots and simulators that are available in market, the efforts to support several robot brands in one software did not reach the needs of engineers. Therefore, this paper proposes a translation library named AdaptPack Studio Translator, which is capable to export proprietary codes for the ABB, Fanuc, Kuka, and Yaskawa robot brands, after their offline programming has been performed in the Visual Components software. The results presented in this paper are evaluated in simulated and real scenarios.","PeriodicalId":198320,"journal":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129288419","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: 4