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Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications最新文献

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Interpretation And Integration Of Height Maps From A Range Image Sequence 距离影像序列的高程图解译与整合
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637887
M. Asada, E. Ikeda, Y. Shirai
{"title":"Interpretation And Integration Of Height Maps From A Range Image Sequence","authors":"M. Asada, E. Ikeda, Y. Shirai","doi":"10.1109/IROS.1989.637887","DOIUrl":"https://doi.org/10.1109/IROS.1989.637887","url":null,"abstract":"This paper presents a method for interpreting and integrating of height maps from a range image sequence taken by a mobile robot in a road scene. The height map represents the height information, which is transformed from a range image, in the vehicleccntcretl Cartcsiari coordiiintc systciii. I;irst, the height mxp is segmented into unexplored, occluded, traversable and obstacle regions from the height information, then, obstacle regions are classified into artificial objects or natural objects according to their geometrical properties such as slope and curvature. Next, the system matches height maps produced at different observation stations in order to combine them, finding correspondence of regions between adjacent height maps. A special care needs to be taken for moving objects because they have different motion parameters from those of the stationary environment. Large errors in matching two obstacle regions corresponding to each other occur at the boundary of observable area and at the area with bad range data where the height information is inconsistent with the ranging geometry. Geometrical reasoning for them can reduce the large matching errors, and as aresult, the system can derive the correct motion parameters. Finally, the system integrates the height maps into a local map using the obtained motion parameters and updates region labels of the loc:il map for matching with the following height maps. We show the results applied 10 l;indscnpe inodcls using ALV simulator of the University of Maryland.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115977925","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
Sensor Data Integration For The Control Of An Autonomous Robot 自主机器人控制中的传感器数据集成
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637958
J. Raczkowsky, U. Rembold
{"title":"Sensor Data Integration For The Control Of An Autonomous Robot","authors":"J. Raczkowsky, U. Rembold","doi":"10.1109/IROS.1989.637958","DOIUrl":"https://doi.org/10.1109/IROS.1989.637958","url":null,"abstract":"The Institute for Realtime Computer Systems and Robotics of the University of Karlsruhe is currently developing the autonomous mobile assembly robot KAMRO. The system consists of a mobile platform with an omnidirectional wheel drive and a superstructure on which two assembly robots are mounted. The sensor system of KAMRO is divided into three functional parts which support the assembly of a product by two arms, the docking of the vehicle and the autonomous navigation. To solve the three tasks, the use of a multisensor system is necessary, combining cameras, distance, approach and tactile sensors. The concept of elementary operations forms the framework for the integration of the sensors into the control system of the mobile robot. In this paper the sensor data processing and various elementary operations of the autonomous mobile assembly robot are described in more detail.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115035711","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
A Transputer Architecture For Sensor-based Autonomous Mobile Robots 基于传感器的自主移动机器人的转发器结构
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637922
Huosheng Hu, P. P. Smith, B. Rao
{"title":"A Transputer Architecture For Sensor-based Autonomous Mobile Robots","authors":"Huosheng Hu, P. P. Smith, B. Rao","doi":"10.1109/IROS.1989.637922","DOIUrl":"https://doi.org/10.1109/IROS.1989.637922","url":null,"abstract":"","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"199 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114228509","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: 7
Stereo Matching Of Curves By Least Deformation 最小变形曲线的立体匹配
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637902
A. Brint, M. Brady
{"title":"Stereo Matching Of Curves By Least Deformation","authors":"A. Brint, M. Brady","doi":"10.1109/IROS.1989.637902","DOIUrl":"https://doi.org/10.1109/IROS.1989.637902","url":null,"abstract":"A stereo algorithm developed for the Oxford AGV is described which matches connected chains of edgels (curves) between images. It is based on representing the curves as elastic strings and measuring tlie amount of deformation the strings have to undergo to transform between corresponding curves, and incorporates the ideas of the disparity gradient and tlle fact that matching sections of curve have to lie of a similar sliape. This explicit, use of shape information means that a precisely known epipolar geometry is no longer crucial. Pairs of potentially corresponding cnrves wllicli lead to a large deformation energy, are eliminated and the greatly reduced number of potentially matching pairs are passed on to a tree search stage. A typical result of running tlie algorithm on a stereo triple is presented.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"287 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114770506","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
Realization Of Obstacle Avoidance By Biped Walking Robot Equipped With Vision System 配备视觉系统的双足步行机器人避障的实现
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637918
D. Shin, A. Takanishi, Takayuki Yoshigahara, S. Ohteru, T. Takeya, I. Kato
{"title":"Realization Of Obstacle Avoidance By Biped Walking Robot Equipped With Vision System","authors":"D. Shin, A. Takanishi, Takayuki Yoshigahara, S. Ohteru, T. Takeya, I. Kato","doi":"10.1109/IROS.1989.637918","DOIUrl":"https://doi.org/10.1109/IROS.1989.637918","url":null,"abstract":"A couple of eyes composed of two CCD cameras is installed on the biped walking robot WL-IZRII-V (Waseda Leg-12 Refined IT with Vision). It is possible for a biped walking robot to \"avoid\" an obstacle by stepping over it instead of detouring around it, if it is low enough for it to do so. In this paper, this type of obstacle avoidance is described with experimental results. The stepping-over experiments have been successful in almost all processes. The robot succeeds in walking on a flat floor at given velocity when it finds an obstacle (for example, a long 3Ox30Lmml cross section square timber can be used) in its way, the robot measures accurately its position and height while walking and then steps over it. Furthermore, not only the bending waist pattern for short-range-measurement but also the approach walking and cr6ss walking patterns for the execution of \"stepping-over\" are automatically designed by the robot. Thus, the WL-1ZRII-V autonomously has realized biped walking for avoiding an obstacle.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130895105","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
Collision Avoidance Betueen Mobile Robots 移动机器人之间的碰撞避免
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637946
M. Saito, T. Tsumura
{"title":"Collision Avoidance Betueen Mobile Robots","authors":"M. Saito, T. Tsumura","doi":"10.1109/IROS.1989.637946","DOIUrl":"https://doi.org/10.1109/IROS.1989.637946","url":null,"abstract":"","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132759866","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
Communication Method of Cellular Robotics CEBOT as a Selforganizing Robotic System 细胞机器人CEBOT自组织机器人系统的通信方法
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637921
T. Fukuda, Y. Kawauchi, M. Buss
{"title":"Communication Method of Cellular Robotics CEBOT as a Selforganizing Robotic System","authors":"T. Fukuda, Y. Kawauchi, M. Buss","doi":"10.1109/IROS.1989.637921","DOIUrl":"https://doi.org/10.1109/IROS.1989.637921","url":null,"abstract":"Thc Dynamically Rcconflgurahlc Robotic Systcm (1)IllCS) Is a ncw kind ol' robotlr system whlch Is ablr to reconrlguratc I Lscl f to optimal structure dcpending on purpose and environment. To realize this concept, we has proposed CEBOT (Cellular Robotics). Communication is needed in CEBOT system as follows: When cells are separated , communication master cell needs to know other cell's function, position and determine the target cell for docking. A mobile cells should be able to coordinate with other mobile cells. When cells are docked, forming cell structure/module, a master cell should control bending joint cell and know of which cells the construction is composed. In this paper, we propose a communication protocol for both cases with optical sensor applicable to CEBOT. Some experimental results are shown by realizing the proposed communication method between cells.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115532268","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: 25
The Role of Sensor Dircctcd, Model Based Control in Robotics 基于模型的传感器控制在机器人中的作用
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637916
R. W. IIarrigan
{"title":"The Role of Sensor Dircctcd, Model Based Control in Robotics","authors":"R. W. IIarrigan","doi":"10.1109/IROS.1989.637916","DOIUrl":"https://doi.org/10.1109/IROS.1989.637916","url":null,"abstract":"","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120963887","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 Concept Of Control System For Construction Robot 施工机器人控制系统的概念
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637897
Toshimitsu Muramatsu, Kenji Cho
{"title":"A Concept Of Control System For Construction Robot","authors":"Toshimitsu Muramatsu, Kenji Cho","doi":"10.1109/IROS.1989.637897","DOIUrl":"https://doi.org/10.1109/IROS.1989.637897","url":null,"abstract":"","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121435961","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
Sensor-Based Terrain Acquisition: a "Seed Spreader" Strategy 基于传感器的地形采集:一种“播种机”策略
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI: 10.1109/IROS.1989.637888
V. Lumelsky, S. Mukhopadhyay, K. Sun
{"title":"Sensor-Based Terrain Acquisition: a \"Seed Spreader\" Strategy","authors":"V. Lumelsky, S. Mukhopadhyay, K. Sun","doi":"10.1109/IROS.1989.637888","DOIUrl":"https://doi.org/10.1109/IROS.1989.637888","url":null,"abstract":"The problem of terrain acquisition presents one aspect of the more general problem of automatic motion planning in the presence of obstacles. In turn, there is a number of ways to formulate the terrain acquisition problem. We consider a case whereby a mobile robot is required to cover all reachable areas of a finite-size planar terrain populated with a finite number of obstacles of arbitrary shape. The robot is equipped with a “vision” which delivers coordinates of all visible obstacles within a limited radius (radius of vision). The proposed algorithm guarantees convergence and exhibits an upper bound performance quadratic in the perimeters of obstacles in the terrain.","PeriodicalId":332317,"journal":{"name":"Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122662469","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: 17
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