2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)最新文献_第7页

An incremental strategy for tractor-trailer vehicle global trajectory optimization in the presence of obstacles 有障碍物情况下拖拉机-挂车全局轨迹优化的增量策略

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418974

Bai Li, Zhijiang Shao

{"title":"An incremental strategy for tractor-trailer vehicle global trajectory optimization in the presence of obstacles","authors":"Bai Li, Zhijiang Shao","doi":"10.1109/ROBIO.2015.7418974","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418974","url":null,"abstract":"Trajectory planning is a critical aspect in driving an autonomous tractor-trailer vehicle. This study considers trajectory planning as a minimal-time optimal control problem that incorporates the kinematics, mechanical/physical constraints, environmental requirements and an optimization criterion. This formulation benefits in the ability to directly handle time-dependent requirements. A gradient-based numerical solver is adopted to tackle the formulated optimal control problem. An incremental strategy is proposed to enhance the global optimization ability of that solver and to help find satisfactory solutions in challenging cases. Specifically, when an optimal solution is found, we doubt whether that is merely a local optimum and then still expect to make evolution; when optimal solutions are not easy to obtain, we expect at least one feasible solution first, which is taken as a preliminary guess to assist the subsequent optimization process. Both procedures proceed alternatively until no progress can be made any further. Some intricate simulation results are well beyond manual operation ability. Moreover, our overall proposal, as a unified and open framework, can deal with a wide variety of user-specified requirements.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"360 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132257098","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

Superpixel segmentation based gradient maps on RGB-D dataset 基于RGB-D数据集的超像素分割梯度图

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418960

Lixing Jiang, Huimin Lu, Vo Duc My, A. Koch, A. Zell

{"title":"Superpixel segmentation based gradient maps on RGB-D dataset","authors":"Lixing Jiang, Huimin Lu, Vo Duc My, A. Koch, A. Zell","doi":"10.1109/ROBIO.2015.7418960","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418960","url":null,"abstract":"Superpixels aim to group homogenous pixels by a series of characteristics in an image. They decimate redundancy that may be utilized later by more computationally expensive algorithms. The most popular algorithms obtain superpixels based on an energy function on a graph. However, these graph-based methods have a high computational time consumption. This study presents a fast and high quality over-segmentation method by a watershed transform based on computing the dissimilarity of pixels among RGB(D) cues and gradient maps. Specifically, we first capture a gradient map based on an image to enhance and explain directional variations in the image scene. A distance function then measures the similarity among adjacent pixels, which is calculated according to RGB(D) values. A fast marker-controlled watershed (MCW) algorithm traverses the entire image based on the distance function. Finally, we acquire all watersheds consisting of superpixel contours. Experimental results compare state-of-the-art algorithms and highlight the effectiveness of the proposed method. As an application, the proposed superpixel algorithm can be used in applications aiming for real-time, like mobile robot saliency detection and segmentation.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"216 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131649318","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

Mathematical analysis of steady walking states in underactuated limit cycle walking 欠驱动极限环行走稳定行走状态的数学分析

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418870

Xuan Xiao, Go Fukuda, F. Asano

引用次数: 1

Design of a fast charging system for service robots 服务型机器人快速充电系统设计

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418924

Yanhong He, Huihuan Qian, Shuaijun Li, N. Cui, Yangsheng Xu

引用次数: 0

Equivalent projection based distortion invariant visual tracking for omnidirectional vision 基于等效投影的全向视觉畸变不变性跟踪

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418831

Yazhe Tang, Shaorong Xie, F. Lin, Jianyu Yang, Youfu Li

{"title":"Equivalent projection based distortion invariant visual tracking for omnidirectional vision","authors":"Yazhe Tang, Shaorong Xie, F. Lin, Jianyu Yang, Youfu Li","doi":"10.1109/ROBIO.2015.7418831","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418831","url":null,"abstract":"Catadioptric omnidirectional images suffer from serious distortions because of quadratic mirrors involved. For that reason, most of visual features developed on the basis of the perspective model are difficult to achieve a satisfactory performance when directly applied to the omnidirectional image. To accurately calculate the deformed target neighborhood, this paper employs equivalent projection approach to effectively formulate the distortion of omnidirectional camera. On the basis of equivalent projection, this paper presents a distortion invariant multi-feature fusion method for robust feature representation in omnidirectional image. Given the Gaussian Mixture Model (GMM), multiple features can be integrated into a whole probability framework. In other words, GMM transforms the problem of features matching into the multi-channel clustering. The fragment-based tracking framework can robustly handle the partial occlusion relying on an adaptive weight metric mechanism. Finally, a series of experiments will be presented to validate the performance of the proposed algorithm.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121430773","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: 0

Road segmentation via iterative deep analysis 通过迭代深度分析进行道路分割

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7419738

Xiang Chen, Y. Qiao

引用次数: 3

Temporal consistency object tracker with ranking mechanism 具有排序机制的时间一致性对象跟踪器

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418834

Yueen Hou, Ping Ye, Wei Zeng

{"title":"Temporal consistency object tracker with ranking mechanism","authors":"Yueen Hou, Ping Ye, Wei Zeng","doi":"10.1109/ROBIO.2015.7418834","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418834","url":null,"abstract":"Visual tracking is important in the field of robotic controlling. However, developing a object tracker, which is robust in complex scenarios, is still a challenging work. In the paper, we propose a novel structural local sparse representation based residual error consistent ranking tracker. In the particle filter framework, candidate targets are linearly combined by a local sparse dictionary. By exploiting temporal consistency, the proposed algorithm develops a residual error consistency term to constraint the objective function of sparse representation. The alignment-pooling algorithm is used to obtain pooled features which contain similarity information of candidates. For further robustness, we develop residual error scores to evaluate the likelihood of candidates belonging to targets. For different natures of the residual error scores and pooled features, a ranking mechanism is proposed to fuse them. Furthermore, the dictionary updating scheme, which combines incremental subspace learning and sparse representation together, uses ranking results of predicted targets to decide which of the predicted targets are collected for dictionary updating. Finally, the proposed tracker performs favorably against 6 state-of-the-art trackers on 6 challenging video sequences.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"73 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126106767","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: 0

A decision-making algorithm for an air-hockey robot that decides actions depending on its opponent player's motions 一种基于对手动作的冰球机器人决策算法

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7419040

Kazuki Igeta, A. Namiki

引用次数: 5

A new postoperative adjustable prosthesis for ossicular chain reconstructions 用于听骨链重建的新型术后可调节假体

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418798

Ismail Kuru, J. Coy, F. Ferrer, T. Lenarz, H. Maier, T. Lüth

引用次数: 2

Prediction of joint angle by combining multiple linear regression with autoregressive (AR) model and Kalman filter 结合多元线性回归与自回归模型和卡尔曼滤波的关节角预测

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2015-12-01 DOI: 10.1109/ROBIO.2015.7418925

F. Xiao, Yongsheng Gao, Shengxin Wang, Jie Zhao

引用次数: 2