2021 European Conference on Mobile Robots (ECMR)最新文献

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Aerial-PASS: Panoramic Annular Scene Segmentation in Drone Videos Aerial-PASS:无人机视频中的全景环形场景分割

2021 European Conference on Mobile Robots (ECMR) Pub Date : 2021-05-15 DOI: 10.1109/ecmr50962.2021.9568802

Lei Sun, Jia Wang, Kailun Yang, Kaikai Wu, Xiangdong Zhou, Kaiwei Wang, J. Bai

{"title":"Aerial-PASS: Panoramic Annular Scene Segmentation in Drone Videos","authors":"Lei Sun, Jia Wang, Kailun Yang, Kaikai Wu, Xiangdong Zhou, Kaiwei Wang, J. Bai","doi":"10.1109/ecmr50962.2021.9568802","DOIUrl":"https://doi.org/10.1109/ecmr50962.2021.9568802","url":null,"abstract":"Aerial pixel-wise scene perception of the surrounding environment is an important task for UAVs (Unmanned Aerial Vehicles). Previous research works mainly adopt conventional pinhole cameras or fisheye cameras as the imaging device. However, these imaging systems cannot achieve large Field of View (FoV), small size, and lightweight at the same time. To this end, we design a UAV system with a Panoramic Annular Lens (PAL), which has the characteristics of small size, low weight, and a 360° annular FoV. A lightweight panoramic annular semantic segmentation neural network model is designed to achieve high-accuracy and real-time scene parsing. In addition, we present the first drone-perspective panoramic scene segmentation dataset Aerial-PASS, with annotated labels of track, field, and others. A comprehensive variety of experiments shows that the designed system performs satisfactorily in aerial panoramic scene parsing. In particular, our proposed model strikes an excellent trade-off between segmentation performance and inference speed, validated on both public street-scene and our established aerial-scene datasets.","PeriodicalId":200521,"journal":{"name":"2021 European Conference on Mobile Robots (ECMR)","volume":"79 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113987123","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: 5

Sobi: An Interactive Social Service Robot for Long-Term Autonomy in Open Environments Sobi:开放环境下长期自主的交互式社会服务机器人

2021 European Conference on Mobile Robots (ECMR) Pub Date : 2021-05-07 DOI: 10.1109/ECMR50962.2021.9568838

Marvin Stuede, Konrad Westermann, M. Schappler, Svenja Spindeldreier

{"title":"Sobi: An Interactive Social Service Robot for Long-Term Autonomy in Open Environments","authors":"Marvin Stuede, Konrad Westermann, M. Schappler, Svenja Spindeldreier","doi":"10.1109/ECMR50962.2021.9568838","DOIUrl":"https://doi.org/10.1109/ECMR50962.2021.9568838","url":null,"abstract":"Long-term autonomy in service robotics is a current research topic, especially for dynamic, large-scale environments that change over time. We present Sobi, a mobile service robot developed as an interactive guide for open environments, such as public places with indoor and outdoor areas. The robot will serve as a platform for environmental modeling and human-robot interaction. Its main hardware and software components, which we freely license as a documented open source project, are presented. Another key focus is Sobi’s monitoring system for long-term autonomy, which restores system components in a targeted manner in order to extend the total system lifetime without unplanned intervention. We demonstrate first results of the long-term autonomous capabilities in a 16-day indoor deployment, in which the robot patrols a total of 66.6 km with an average of 5.5 hours of travel time per weekday, charging autonomously in between. In a user study with 12 participants, we evaluate the appearance and usability of the user interface, which allows users to interactively query information about the environment and directions.","PeriodicalId":200521,"journal":{"name":"2021 European Conference on Mobile Robots (ECMR)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124317476","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

Online Object-Oriented Semantic Mapping and Map Updating 在线面向对象语义映射和地图更新

2021 European Conference on Mobile Robots (ECMR) Pub Date : 2020-11-13 DOI: 10.1109/ecmr50962.2021.9568817

Nils Dengler, Tobias Zaenker, Francesco Verdoja, Maren Bennewitz

{"title":"Online Object-Oriented Semantic Mapping and Map Updating","authors":"Nils Dengler, Tobias Zaenker, Francesco Verdoja, Maren Bennewitz","doi":"10.1109/ecmr50962.2021.9568817","DOIUrl":"https://doi.org/10.1109/ecmr50962.2021.9568817","url":null,"abstract":"Creating and maintaining an accurate representation of the environment is an essential capability for every service robot. Especially for household robots acting in indoor environments, semantic information is important. In this paper, we present a semantic mapping framework with modular map representations. Our system is capable of online mapping and object updating given object detections from RGB-D data and provides various 2D and 3D representations of the mapped objects. To undo wrong data associations, we perform a refinement step when updating object shapes. Furthermore, we maintain an existence likelihood for each object to deal with false positive and false negative detections and keep the map updated. Our mapping system is highly efficient and achieves a run time of more than 10 Hz. We evaluated our approach in various environments using two different robots, i.e., a Toyota HSR and a Fraunhofer Care-O-Bot-4. As the experimental results demonstrate, our system is able to generate maps that are close to the ground truth and outperforms an existing approach in terms of intersection over union, different distance metrics, and the number of correct object mappings.","PeriodicalId":200521,"journal":{"name":"2021 European Conference on Mobile Robots (ECMR)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127286249","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: 9

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