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2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)最新文献

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Integration of Multiple Events in a Topological Autonomous Navigation System 拓扑自主导航系统中多事件的集成
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.47
Clara Gómez, A. C. Hernández, J. Crespo, R. Barber
{"title":"Integration of Multiple Events in a Topological Autonomous Navigation System","authors":"Clara Gómez, A. C. Hernández, J. Crespo, R. Barber","doi":"10.1109/ICARSC.2016.47","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.47","url":null,"abstract":"The main purpose of this work is to develop a navigation system that allows a mobile robot to move autonomously in an environment using perceptions of multiple events. A topological navigation system methodology based on events is presented. This methodology imitates human navigation by using sensorimotor abilities and sensorial events, guiding the robot to its final destination. The developed topological system implies an a priori environment representation, the acquisition of perceptions related to events, the planning of a path as a sequence of actions and perceptions between events and the navigation that converts the sequence into real movements supervising the avoidance of unexpected obstacles. The developed architecture enhances the integration of new elements due to its modularity and the decoupling between modules. The innovation of this work resides in the use of an integration interface to handle multiple events concurrently, leading to a more complete and advanced navigation system. Finally, experiments have been carried out in several mobile robots, their results show the feasibility of the navigation system and the integration of the sensorial data managed as events.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129724131","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
A Robot Localization System Based on RF Fadings Using Particle Filters inside Pipes 基于管道内粒子滤波的射频衰落机器人定位系统
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.22
T. Seco, C. Rizzo, J. Espelosín, J. L. Villarroel
{"title":"A Robot Localization System Based on RF Fadings Using Particle Filters inside Pipes","authors":"T. Seco, C. Rizzo, J. Espelosín, J. L. Villarroel","doi":"10.1109/ICARSC.2016.22","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.22","url":null,"abstract":"Accurate robot localization inside pipes is a challenging task due to the special conditions of this type of environments. Humidity, slippery surfaces and mainly the lack of distinctive features make traditional robotics methods based on sensors such us cameras or lasers to perform erratically. In this paper, we present a robot localization system using a Particle Filter which takes advantage of the periodicity nature of spatial RF signal fadings that appears inside pipes under certain settings. Experimental results demonstrate the effectiveness of the proposed method in pipes.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117067188","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
Vine Trunk Detector for a Reliable Robot Localization System 一种可靠的机器人定位系统藤蔓树干检测器
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.68
Jorge Mendes, F. Santos, Nuno Ferraz, P. Couto, Raul Morais
{"title":"Vine Trunk Detector for a Reliable Robot Localization System","authors":"Jorge Mendes, F. Santos, Nuno Ferraz, P. Couto, Raul Morais","doi":"10.1109/ICARSC.2016.68","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.68","url":null,"abstract":"Develop 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 got from Global Positioning Systems (GPS). For this context, a reliable localization system requires a high density of natural/artificial features and an accurate detector. This paper presents a novel visual detector for Vineyards Trunks and Masts (ViTruDe). The ViTruDe detector was developed considering the constrains of a cost-effective robot to carry-out crop monitoring tasks in steep slope vineyard environment. The obtained results with real data shows an accuracy higher than 95% for all tested configurations. 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 GPS-free.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131611125","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: 22
EyeLHM: Real-Time Vision-Based approach for Eye Localization and Head Motion Estimation 基于实时视觉的眼睛定位和头部运动估计方法
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.39
Djamel Eddine Benrachou, F. Santos, B. Boulebtateche, Salah Bensaoula
{"title":"EyeLHM: Real-Time Vision-Based approach for Eye Localization and Head Motion Estimation","authors":"Djamel Eddine Benrachou, F. Santos, B. Boulebtateche, Salah Bensaoula","doi":"10.1109/ICARSC.2016.39","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.39","url":null,"abstract":"Humans are increasingly cooperating with machinery/robots in a high number of domains and under uncontrolled conditions. When persons are interacting with machinery, they are exposed to distraction/fatigue, which can lead to dangerous situations. The evaluation of individual's attention and fatigue levels is highly needed in such situations. This is an important measurement to avoid the interaction of humans with the machine when these levels of concentration are critical. This paper proposes a real-time vision-based approach for eye localization and head motion estimation (EyeLHM). The proposed method is evaluated under three different databases: GI4E face database, extended Yale-B database and GI4E head pose database. High detection rates are achieved on GI4E head-pose database and face database, 97:35% and 87:19% respectively. EyeLHM approach is optimized to be deployed in low-cost computers, such as RaspberryPi or UDOO Boards.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131200106","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
SLAMfusion: Fusing SLAM Methods for Improved Robustness SLAM融合:融合SLAM方法以提高鲁棒性
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.61
Miguel Fernandes, Luís A. Alexandre
{"title":"SLAMfusion: Fusing SLAM Methods for Improved Robustness","authors":"Miguel Fernandes, Luís A. Alexandre","doi":"10.1109/ICARSC.2016.61","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.61","url":null,"abstract":"There are multiple approaches for SLAM, but we found the the ones implemented in ROS had problems when a robot drove over small obstacles. This paper presents a proposal to make a more robust SLAM by running three SLAM methods in parallel and using their information to produce a better estimate of the robot's surroundings. The proposed method defines its output by making the three methods vote for the value of each pixel in the map. To deal with the increased computational complexity, the method is implemented in the GPU. The performed experiments show that our method shows smaller error than any of the three fused methods alone both when there are ground obstacles that induce map errors and also when no obstacles are present, thus presenting in fact an increase in robustness.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129594691","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
Off-Line Programming of Grinding Robots at Grohe Portugal 葡萄牙高仪磨削机器人的离线编程
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.56
M. Silva
{"title":"Off-Line Programming of Grinding Robots at Grohe Portugal","authors":"M. Silva","doi":"10.1109/ICARSC.2016.56","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.56","url":null,"abstract":"The work described in this paper address the problems of productivity of Grohe's Portugal grinding/ polishing department, related to the frequent stops of robotic cells for on-line programming and program adjustments. The solution to the stated problem was achieved through the adoption of off-line programming as an alternative to the conventional on-line method. Efforts were developed to overcome some limitations and restrictions found in terms of the software applications used, in order to adapt and improve their use to the needs of this type of contact applications. The solution developed is currently used for off-line programming the grinding robots at Grohe Portugal, with a significant reduction in the cells stop time to program the robots and also in the cycle time. The application of the off-line programming method and of the new programming techniques allowed to obtain a reduction of the cell stop time (up to 85% reduction), to optimize the production cycle time (up to 10% reduction) and, simultaneously, good results in terms of product finishing. The main limitations faced are the lack of realism of the wheel flexibility and the lack of sensitivity of the contact force with it.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128983692","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
2D Cloud Template Matching - A Comparison between Iterative Closest Point and Perfect Match 二维云模板匹配——迭代最接近点与完美匹配的比较
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.13
H. Sobreira, Luís F. Rocha, Carlos M. Costa, José Lima, P. Costa, A. Moreira
{"title":"2D Cloud Template Matching - A Comparison between Iterative Closest Point and Perfect Match","authors":"H. Sobreira, Luís F. Rocha, Carlos M. Costa, José Lima, P. Costa, A. Moreira","doi":"10.1109/ICARSC.2016.13","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.13","url":null,"abstract":"Self-localization of mobile robots in the environment is one of the most fundamental problems in the robotics field. It is a complex and challenging problem due to the high requirements of autonomous mobile vehicles, particularly with regard to algorithms accuracy, robustness and computational efficiency. In this paper we present the comparison of two of the most used map-matching algorithm, which are the Iterative Closest Point and the Perfect Match. This category of algorithms are normally applied in localization based on natural landmarks. They were compared using an extensive collection of metrics, such as accuracy, computational efficiency, convergence speed, maximum admissible initialization error and robustness to outliers in the robots sensors data. The test results were performed in both simulated and real world environments.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125270078","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
Towards Robotic Garment Folding: A Vision Approach for Fold Detection 面向机器人服装折叠:折叠检测的视觉方法
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.65
D. Estévez, J. Victores, S. Morante, C. Balaguer
{"title":"Towards Robotic Garment Folding: A Vision Approach for Fold Detection","authors":"D. Estévez, J. Victores, S. Morante, C. Balaguer","doi":"10.1109/ICARSC.2016.65","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.65","url":null,"abstract":"Folding clothes is a current trend in robotics. Previously to folding clothes, they have to be unfolded. It is not realistic to perform model-based unfolding, as every garment has a different shape, size, color, texture, etc. In this paper we present a garment-agnostic algorithm to unfold clothes that works using 3D sensor information. The depth information provided by the sensor is converted into a grayscale image. This image is segmented using watershed algorithm. This algorithm provide us with labeled regions, each having a different height. In this labeled image, we assume that the highest height region belongs to the fold. Starting on this region, and ending in the garment border, tentative paths are created in several directions to analyze the height profile. For each profile, a bumpiness value is computed, and the lowest one is selected as the unfolding direction. A final extension on this line is performed to create a pick point on the fold border, and a place point outside the garment. The proposed algorithm is tested with a small set of clothes in different positions.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"190 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128561109","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
Object Classification in Natural Environments for Mobile Robot Navigation 移动机器人导航的自然环境目标分类
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.55
A. C. Hernández, Clara Gómez, J. Crespo, R. Barber
{"title":"Object Classification in Natural Environments for Mobile Robot Navigation","authors":"A. C. Hernández, Clara Gómez, J. Crespo, R. Barber","doi":"10.1109/ICARSC.2016.55","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.55","url":null,"abstract":"The increasing interest in building autonomous mobile systems makes the detection and recognition of objects in natural environments is a very important and challenging task. In this paper, a vision system to detect objects considering natural environments, able to work on real mobile robot is developed. In the proposed system, the classification method used is Support Vector Machine (SVM) and as input to this system, RGB and depth images are used. Two approaches for implementing the selected classification method are explored, the prediction process one against all and one against one. The experimental results have demonstrated the usefulness of the system for detection and location of objects, and through the comparison of the two proposed approaches for the classification, has been determined which alternative offers better performance considering that the environment has not been changed, guaranteeing the naturalness of the place.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116695633","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
A Novel Underactuated Hand Suitable for Human-Oriented Domestic Environments 一种适合于以人为本的家庭环境的新型欠驱动手
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.21
A. Farinha, P. Lima
{"title":"A Novel Underactuated Hand Suitable for Human-Oriented Domestic Environments","authors":"A. Farinha, P. Lima","doi":"10.1109/ICARSC.2016.21","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.21","url":null,"abstract":"A novel robotic hand was developed to achieve high dexterity and robustness while using underactuation. For that purpose, the kinematics design method was based on the abstraction of functionalities provided from the human hand and the joints consist of rubber beams which provide lateral mobility and passive adaptability to the grasped objects. The hand is self-contained and human-sized with a reduced mass of m = 540g. Regarding performance, the hand accomplished 41 of the 49 grasps in the Feix and Cutkosky taxonomies, has a maximum in-hand payload of 2kg and is able to sustain high impacts, protecting itself, the surroundings and its workpiece.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121653879","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
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