2013 13th International Conference on Autonomous Robot Systems最新文献

EKF-based visual self-calibration tool for robots with rotating directional cameras 基于ekf的旋转定向摄像机机器人视觉自标定工具

2013 13th International Conference on Autonomous Robot Systems Pub Date : 2013-04-24 DOI: 10.1109/ROBOTICA.2013.6623538

J. Ribeiro, Rui Serra, N. Nunes, Hugo Silva, J. Almeida

{"title":"EKF-based visual self-calibration tool for robots with rotating directional cameras","authors":"J. Ribeiro, Rui Serra, N. Nunes, Hugo Silva, J. Almeida","doi":"10.1109/ROBOTICA.2013.6623538","DOIUrl":"https://doi.org/10.1109/ROBOTICA.2013.6623538","url":null,"abstract":"Autonomous mobile robots perception systems are complex multi-sensors systems. Information from different sensors, placed in different parts of the platforms, need to be related and fused into some representation of the world or robot state. For that, the knowledge of the relative pose (position and rotation) between sensors frames and the platform frame plays a critical role. The process to determine those is called extrinsic calibration. This paper addresses the development of automatic robot calibration tool for Middle Size League Robots with rotating directional cameras, such as the ISePorto team robots. The proposed solution consists on a robot navigating in a path, while acquiring visual information provided by a known target positioned in a global reference frame. This information is then combined with wheel odometry sensors, robot rotative axis encoders and gyro information within an Extend Kalman filter framework, that estimates all parameters required for the sensors angles and position determination related to the robot body frame. We evaluated our solution, by performing several trials and obtaining similar results to the previous used manual calibration procedure, but with a much less time consuming performance and also without being susceptible to human error.","PeriodicalId":233647,"journal":{"name":"2013 13th International Conference on Autonomous Robot Systems","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116576881","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

TIGRE — An autonomous ground robot for outdoor exploration TIGRE -用于户外探索的自主地面机器人

2013 13th International Conference on Autonomous Robot Systems Pub Date : 2013-04-24 DOI: 10.1109/ROBOTICA.2013.6623529

A. Martins, G. Amaral, A. Dias, C. Almeida, J. Almeida, E. Silva

引用次数: 5

A framework for anomaly detection of robot behaviors 机器人行为异常检测的框架

2013 13th International Conference on Autonomous Robot Systems Pub Date : 2013-04-24 DOI: 10.1109/ROBOTICA.2013.6623519

Kai Haussermann, O. Zweigle, P. Levi

引用次数: 0

Unknown-color spherical object detection and tracking 未知颜色球面目标检测与跟踪

2013 13th International Conference on Autonomous Robot Systems Pub Date : 2013-04-24 DOI: 10.1109/ROBOTICA.2013.6623533

Anze Troppan, Eduardo Guerreiro, Francesco Celiberti, Goncalo Santos, Aamir Ahmad, P. Lima

引用次数: 4

Manual, automatic and shared methods for controlling an intelligent wheelchair: Adaptation to cerebral palsy users 控制智能轮椅的手动、自动和共享方法:适应脑瘫患者

2013 13th International Conference on Autonomous Robot Systems Pub Date : 2013-04-24 DOI: 10.1109/ROBOTICA.2013.6623523

B. Faria, Luis Paulo Reis, N. Lau

{"title":"Manual, automatic and shared methods for controlling an intelligent wheelchair: Adaptation to cerebral palsy users","authors":"B. Faria, Luis Paulo Reis, N. Lau","doi":"10.1109/ROBOTICA.2013.6623523","DOIUrl":"https://doi.org/10.1109/ROBOTICA.2013.6623523","url":null,"abstract":"The development of an intelligent wheelchair (IW) platform that may be easily adapted to any commercial wheelchair and aid any person with special mobility needs is the main objective of this project. To be able to achieve this main objective, three distinct control methods were implemented in the IW: manual, shared and automatic. Several manual, shared and automatic control algorithms were developed for this task. This paper presents three of the most significant of those algorithms with emphasis on the shared control method. Experiments were performed, using a realistic simulator, with real users suffering from cerebral palsy in order to validate the approach. These experiments enabled to conclude which were the best shared control methods to implement on the IW. The experiments also revealed the importance of using shared (aided) controls for users with severe disabilities. The patients still felt having complete control over the wheelchair movement when using a shared control at a 50% level and thus this control type was very well accepted and should be used in intelligent wheelchairs since it is able to correct the direction in case of involuntary movements of the user but still gives him a sense of complete control over the IW movement.","PeriodicalId":233647,"journal":{"name":"2013 13th International Conference on Autonomous Robot Systems","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133041901","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: 8

Base pose estimation using shared reachability maps for manipulation tasks 基于共享可达性映射的操作任务基位估计

2013 13th International Conference on Autonomous Robot Systems Pub Date : 2013-04-24 DOI: 10.1109/ROBOTICA.2013.6623540

Daniel Di Marco, O. Zweigle, P. Levi

引用次数: 0

Collective motion pattern scaling for improved open-loop off-road navigation 改进开环越野导航的集体运动模式缩放

2013 13th International Conference on Autonomous Robot Systems Pub Date : 2013-04-24 DOI: 10.1109/ROBOTICA.2013.6623535

F. Hoeller, Timo Rohling, D. Schulz

{"title":"Collective motion pattern scaling for improved open-loop off-road navigation","authors":"F. Hoeller, Timo Rohling, D. Schulz","doi":"10.1109/ROBOTICA.2013.6623535","DOIUrl":"https://doi.org/10.1109/ROBOTICA.2013.6623535","url":null,"abstract":"This paper presents an adaptive navigation system which is able to steer an electronically controlled ground vehicle to given destinations while it adjusts to changing surface conditions. The approach is designed for vehicles without a velocity controlled drive-train, making it especially useful for typical remote-controlled vehicles without upgraded motor controllers. The vehicle is controlled by sets of commands, each set representing a specific maneuver. These sets are combined to form trajectories towards a given destination. While one of these sets of commands is executed the vehicle's movement is measured to refine the geometry of all maneuvers. A scaling vector is derived from the changes in dimensions of the bounding boxes of the assumed and the actual path, which is then used to collectively update all known maneuvers. This enables the approach to quickly adapt to surface alterations. We tested our approach using a 300 kg Explosive Ordnance Disposal (EOD) robot in an outdoor environment. The experiments confirmed that the Collective Motion Pattern Scaling significantly increases the adaptation performance compared to an approach without collective scaling.","PeriodicalId":233647,"journal":{"name":"2013 13th International Conference on Autonomous Robot Systems","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128099277","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

Diagonal walk reference generator based on Fourier approximation of ZMP trajectory 基于ZMP轨迹傅立叶近似的对角行走参考发生器

2013 13th International Conference on Autonomous Robot Systems Pub Date : 2013-04-24 DOI: 10.1109/ROBOTICA.2013.6623534

R. Ferreira, Nima Shafii, N. Lau, Luis Paulo Reis, A. Abdolmaleki

{"title":"Diagonal walk reference generator based on Fourier approximation of ZMP trajectory","authors":"R. Ferreira, Nima Shafii, N. Lau, Luis Paulo Reis, A. Abdolmaleki","doi":"10.1109/ROBOTICA.2013.6623534","DOIUrl":"https://doi.org/10.1109/ROBOTICA.2013.6623534","url":null,"abstract":"Humanoid robots should be capable of adjusting their walking speed and walking direction. Due to the huge design space of the controller, it is very difficult to control the balance of humanoids walk. The position of the Zero Moment Point (ZMP) is widely used for dynamic stability measurement in biped locomotion. The reference trajectory of the Center of Mass (CoM) of a humanoid can be computed from a predefined ZMP trajectory. In order to generate the CoM trajectory, many researchers represent the ZMP equation using the motion equations of simple physical system, e.g. the cart-table model. A Fourier series approximation based method, which generates the CoM trajectory, was previously proposed for straight and curve walking. This paper extends these techniques to generate side and diagonal walking. In order to generate diagonal walking, straight and side walking are combined. The proposed CoM generation approach was tested on a simulated NAO robot. Experiments indicate that the method is successful in generating stable side and diagonal walking. Comparison results of the proposed method with ZMP preview control method show the benefits of the proposed technique.","PeriodicalId":233647,"journal":{"name":"2013 13th International Conference on Autonomous Robot Systems","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128145891","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

An evaluation of local feature combiners for robot visual localization 局部特征组合器在机器人视觉定位中的应用

2013 13th International Conference on Autonomous Robot Systems Pub Date : 2013-04-24 DOI: 10.1109/ROBOTICA.2013.6623526

Francisco M. Campos, L. Correia, J. Calado

{"title":"An evaluation of local feature combiners for robot visual localization","authors":"Francisco M. Campos, L. Correia, J. Calado","doi":"10.1109/ROBOTICA.2013.6623526","DOIUrl":"https://doi.org/10.1109/ROBOTICA.2013.6623526","url":null,"abstract":"In the last decade, local image features have been widely used in robot visual localization. To assess image similarity, a strategy exploiting these features compares raw descriptors extracted from the current image to those in the models of places. This paper addresses the ensuing step in this process, where a combining function must be used to aggregate results and assign each place a score. Casting the problem in the multiple classifier systems framework, we compare several candidate combiners with respect to their performance in the visual localization task. A deeper insight into the potential of the sum and product combiners is provided by testing two extensions of these algebraic rules: threshold and weighted modifications. In addition, a voting method, previously used in robot visual localization, is assessed. All combiners are tested on a visual localization task, carried out on a public dataset. It is experimentally demonstrated that the sum rule extensions globally achieve the best performance. The voting method, whilst competitive to the algebraic rules in their standard form, is shown to be outperformed by both their modified versions.","PeriodicalId":233647,"journal":{"name":"2013 13th International Conference on Autonomous Robot Systems","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126782253","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

Visual detection of vehicles using a bag-of-features approach 使用特征袋方法对车辆进行视觉检测

2013 13th International Conference on Autonomous Robot Systems Pub Date : 2013-04-24 DOI: 10.1109/ROBOTICA.2013.6623539

Pedro da Rocha Pinto, A. Tomé, Vítor M. F. Santos

引用次数: 4