Proceedings of the 2005 IEEE International Conference on Robotics and Automation最新文献_第2页

Urban Object Recognition from Informative Local Features 基于信息局部特征的城市目标识别

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570108

G. Fritz, C. Seifert, L. Paletta

{"title":"Urban Object Recognition from Informative Local Features","authors":"G. Fritz, C. Seifert, L. Paletta","doi":"10.1109/ROBOT.2005.1570108","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570108","url":null,"abstract":"Autonomous mobile agents require object recognition for high level interpretation and localization in complex scenes. In urban environments, recognition of buildings might play a dominant role in robotic systems that need object based navigation, that take advantage of visual feedback and multimodal information for self-localization, or that enable association to related information from the identified semantics. We present a new method – the informative local features approach – based on an information theoretic saliency measure that is rapidly derived from a local Parzen window density estimation in feature subspace. From the learning of a decision tree based mapping to informative features, it enables attentive access to discriminative information and thereby significantly speeds up the recognition process. This approach is highly robust with respect to severe degrees of partial occlusion, noise, and tolerant to some changes in scale and illumination. We present performance evaluation on our publicly available reference object database (TSG-20) that demonstrates the efficiency of this approach, case wise even outperforming the SIFT feature approach [1]. Building recognition will be advantageous in various application domains, such as, mobile mapping, unmanned vehicle navigation, and systems for car driver assistance.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115540595","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: 24

Step Modelling of a High Precision 2DoF (Linear-Angular) Microsystem 高精度二自由度(线角)微系统的阶跃建模

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570111

M. Rakotondrabe, Y. Haddab, P. Lutz

引用次数: 5

Multi-Segment State Coordination for Reducing Latency Time of Shape Memory Alloy Actuator Systems 减少形状记忆合金作动器系统延迟时间的多段状态协调

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570303

B. Selden, Kyu-Jin Cho, H. Asada

{"title":"Multi-Segment State Coordination for Reducing Latency Time of Shape Memory Alloy Actuator Systems","authors":"B. Selden, Kyu-Jin Cho, H. Asada","doi":"10.1109/ROBOT.2005.1570303","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570303","url":null,"abstract":"This paper describes a new approach to the control of highly nonlinear shape memory alloy (SMA) actuator systems, in which SMA wires are divided into many segments and their thermal states are controlled individually as a group of finite state machines. Instead of driving a current to the entire SMA wire and controlling the wire length based on the analogue strain-temperature characteristics, the new method controls the discrete state (austenite or martensite) of individual segments and thereby controls the total displacement proportional to the number of the austenite segments. Although the inherent property of SMA is highly nonlinear and uncertain with a prominent hysteresis, this Hysteresis Loop Control is robust and stable, providing characteristics similar to a stepping motor. Furthermore, this method can apparently eliminate the latency time associated with phase transition of SMA actuators. Coordination of the multitude of segments having independent thermal states allows for fast response with zero latency time even for thick SMA wires. The new control method is implemented using the Peltier effect thermoelectric devices for selective segment-by-segment heating and cooling. Experiments demonstrate effectiveness of the proposed method, which exploits the inherent hysteresis and nonlinearity of SMA rather than compensating for the nonlinearity.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116038574","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

Dynamic Visual Servoing of Robots in Uncalibrated Environments 非标定环境下机器人的动态视觉伺服

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570592

Yunhui Liu, Hesheng Wang, Kinkwan Lam

引用次数: 22

Data-and Model-driven Attention Mechanism for Autonomous Visual Landmark Acquisition 自主视觉地标获取的数据和模型驱动注意机制

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570631

R. Vázquez-Martín, J. Lasanta, A. Bandera, F. Hernández

引用次数: 11

Automated Simultaneous Calibration of a Multi-View Laser Stripe Profiler 多视点激光条纹轮廓仪的自动同步校准

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570801

Wolfgang Stöcher, G. Biegelbauer

{"title":"Automated Simultaneous Calibration of a Multi-View Laser Stripe Profiler","authors":"Wolfgang Stöcher, G. Biegelbauer","doi":"10.1109/ROBOT.2005.1570801","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570801","url":null,"abstract":"We present enhancements of existing calibration methods that allow the automated calibration of a laser stripe profiler in an industrial environment. The first and most important enhancement is a new design of the calibration object. Basically it is a “wire-frame model” of a cube, where the edges are simply standard aluminium profiles. This allows establishing point correspondences in a simple and robust way without the need of intensity information. Furthermore this hollow kind of a calibration object allows simultaneous multi-view calibration since enough points of six different planes can be seen from many directions. Given a rough calibration (based on rough measurements with ± 50% accuracy) the scanned points can be automatically allocated to the respective planes of the calibration object. Secondly we propose a new way of solving the linear model of a laser stripe profiler. By firstly solving the camera-independent geometry these values can be averaged over the multiple views, which further reduces the local offsets of point clouds and therefore enhances the output of subsequent operations like mesh generation on the combined calibrated point cloud. The paper describes the design of the calibration object and the calibration method in detail and presents experimental results on simulated and real range data sets. The industrial applicability has been demonstrated in a sensor cell with four cameras under real-world conditions including moderate oscillations of the calibration object.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122562208","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

On Computing Complex Navigation Functions 复杂导航函数的计算

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570644

L. Pimenta, A. R. Fonseca, G. Pereira, R. Mesquita, E. J. Silva, W. Caminhas, M. Campos

引用次数: 19

All Terrain Exploration with the Cliff-bot System 所有地形探索与悬崖机器人系统

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570203

G. Paulsen, S. Farritor, T. Huntsberger, H. Aghazarian

引用次数: 11

Cubic-Spline Trajectory Planning of a Constrained Flexible Manipulator 受限柔性机械臂的三样条轨迹规划

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570591

A. Ata, H. Johar

引用次数: 5

Practical Vision-Based Monte Carlo Localization on a Legged Robot 基于实用视觉的有腿机器人蒙特卡罗定位

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570630

M. Sridharan, Gregory Kuhlmann, P. Stone

{"title":"Practical Vision-Based Monte Carlo Localization on a Legged Robot","authors":"M. Sridharan, Gregory Kuhlmann, P. Stone","doi":"10.1109/ROBOT.2005.1570630","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570630","url":null,"abstract":"Mobile robot localization, the ability of a robot to determine its global position and orientation, continues to be a major research focus in robotics. In most past cases, such localization has been studied on wheeled robots with range finding sensors such as sonar or lasers. In this paper, we consider the more challenging scenario of a legged robot localizing with a limited field-of-view camera as its primary sensory input. We begin with a baseline implementation adapted from the literature that provides a reasonable level of competence, but that exhibits some weaknesses in real-world tests. We propose a series of practical enhancements designed to improve the robot’s sensory and actuator models that enable our robots to achieve a 50% improvement in localization accuracy over the baseline implementation. We go on to demonstrate how the accuracy improvement is even more dramatic when the robot is subjected to large unmodeled movements. These enhancements are each individually straightforward, but together they provide a roadmap for avoiding potential pitfalls when implementing Monte Carlo Localization on vision-based and/or legged robots.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122152588","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: 77