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2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR)最新文献

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An Unconstrained Dataset for Non-Stationary Video Based Fire Detection 基于非平稳视频的无约束火灾检测数据集
2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR) Pub Date : 2015-10-01 DOI: 10.1109/LARS-SBR.2015.10
C. Steffens, R. N. Rodrigues, Silvia Silva da Costa Botelho
{"title":"An Unconstrained Dataset for Non-Stationary Video Based Fire Detection","authors":"C. Steffens, R. N. Rodrigues, Silvia Silva da Costa Botelho","doi":"10.1109/LARS-SBR.2015.10","DOIUrl":"https://doi.org/10.1109/LARS-SBR.2015.10","url":null,"abstract":"Challenging ground truth and standardized metrics are a mandatory requirement for the development and evaluation of computer vision algorithms. Despite the significant amount of publications on video based fire detection research it remains difficult to compare different algorithms due to the lack of common evaluation schemes and evaluation datasets. We address both of these issues by presenting a new dataset of fire videos containing frame by frame annotations which may be used for non-stationary fire detection algorithms evaluation. The dataset includes hand-held, robot attached and drone attached footages and aims to boost the development of fully autonomous fire fighter robots. The presented ground truth and metrics may adapt to any state-of-the-art technique and provide a reliable and unbiased solution to compare them.","PeriodicalId":360398,"journal":{"name":"2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122661795","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: 16
A Topological Descriptor of Acoustic Images for Navigation and Mapping 用于导航和制图的声学图像拓扑描述符
2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR) Pub Date : 2015-10-01 DOI: 10.1109/LARS-SBR.2015.11
M. D. dos Santos, P. Ballester, G. B. Zaffari, Paulo L. J. Drews-Jr, S. Botelho
{"title":"A Topological Descriptor of Acoustic Images for Navigation and Mapping","authors":"M. D. dos Santos, P. Ballester, G. B. Zaffari, Paulo L. J. Drews-Jr, S. Botelho","doi":"10.1109/LARS-SBR.2015.11","DOIUrl":"https://doi.org/10.1109/LARS-SBR.2015.11","url":null,"abstract":"The use of robots in underwater exploration is increasing in the last years. The automation of the monitoring, inspection and underwater maintenance tasks require a good mapping and localization system. One of the key issues of these systems is how to summarize the sensory information in order to recognize an area that has already been visited. This paper proposes a description method of acoustic images acquired by a forward looking sonar (FLS) using a graph of Gaussian probability density function. This structure represents both shape and topological relation. Furthermore, we also presented a method to match the descriptors in a efficient way. We evaluated the method in a real dataset acquired by a underwater vehicle performing autonomous navigation and mapping tasks in a marine environment.","PeriodicalId":360398,"journal":{"name":"2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR)","volume":"181 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123009056","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: 12
Reconfigurable Hardware Architecture for Vision-Based Driving Systems 基于视觉驱动系统的可重构硬件架构
2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR) Pub Date : 2015-10-01 DOI: 10.1109/LARS-SBR.2015.65
M. A. Dias, F. Osório
{"title":"Reconfigurable Hardware Architecture for Vision-Based Driving Systems","authors":"M. A. Dias, F. Osório","doi":"10.1109/LARS-SBR.2015.65","DOIUrl":"https://doi.org/10.1109/LARS-SBR.2015.65","url":null,"abstract":"Vision-based driving systems are embedded systems that commonly have to consider real time constraints. Proposed systems use general purpose computers to execute designed algorithms based on their processing power and reduced designing time. These computers and other sensors are considerably power consuming and considerably increase the final cost of proposed solutions. Design of specific hardware systems that can be easily embed in autonomous vehicles without compromising power consumption, processing time and system final cost is an interesting solution. This work presents a hardware structure that can be used to increase the performance of autonomous vehicles visual navigation systems. Proposed structure was test with hardware version of image filters that are used in pre-processing steps of visual navigation algorithms. Results showed that proposed hardware achieved acceptable frame rate with a good image size compared to other proposed hardware systems.","PeriodicalId":360398,"journal":{"name":"2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134293472","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 New Cost Function Heuristic Applied to A* Based Path Planning in Static and Dynamic Environments 一种新的成本函数启发式算法在静态和动态环境下基于A*的路径规划中的应用
2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR) Pub Date : 2015-10-01 DOI: 10.1109/LARS-SBR.2015.35
Jefferson B. B. Silva, C. Siebra, Tiago Pereira do Nascimento
{"title":"A New Cost Function Heuristic Applied to A* Based Path Planning in Static and Dynamic Environments","authors":"Jefferson B. B. Silva, C. Siebra, Tiago Pereira do Nascimento","doi":"10.1109/LARS-SBR.2015.35","DOIUrl":"https://doi.org/10.1109/LARS-SBR.2015.35","url":null,"abstract":"An important task for mobile robots is autonomous navigation, where the robot travels between a starting point and a target point without the need for human intervention. This task can be described as a planning path problem, whose purpose is to locate sequential segments of state transitions (Cells) from an initial to a final goal. This paper investigates a family of trajectory generation algorithms (A*), which are commonly used in path planning for static environments, stressing their main properties. Then, it is presented a new cost function heuristic that is used to optimize the results presented in the original approaches. The comparison of all algorithms is carried out via a set of experiments, which show that the new heuristic reduces the computational cost of the search, the amount of expanded cells and mainly the time required to locate targets. These experiments also carried out in both static and dynamic environments.","PeriodicalId":360398,"journal":{"name":"2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131135600","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
Automated Positioning System for Mobile Robots Based on RFID RSSI and Extended Kalman Filter 基于RFID RSSI和扩展卡尔曼滤波的移动机器人自动定位系统
2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR) Pub Date : 2015-10-01 DOI: 10.1109/LARS-SBR.2015.72
Bruno Luiz Pereira, Pedro Ventura de Oliveira, Rafael Froede Goncalves, J. Tavares
{"title":"Automated Positioning System for Mobile Robots Based on RFID RSSI and Extended Kalman Filter","authors":"Bruno Luiz Pereira, Pedro Ventura de Oliveira, Rafael Froede Goncalves, J. Tavares","doi":"10.1109/LARS-SBR.2015.72","DOIUrl":"https://doi.org/10.1109/LARS-SBR.2015.72","url":null,"abstract":"This work deals with the development of an autonomous positioning system for mobile robots from RSSI values obtained in real-time of a RFID reader, and treated by an Extended Kalman Filter.","PeriodicalId":360398,"journal":{"name":"2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR)","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123452593","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
Compact RRT: A New Approach for Guided Sampling Applied to Environment Representation and Path Planning in Mobile Robotics 紧凑RRT:一种应用于移动机器人环境表示和路径规划的引导采样新方法
2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR) Pub Date : 2015-10-01 DOI: 10.1109/LARS-SBR.2015.40
Stephanie Kamarry, L. Molina, E. Carvalho, E. Freire
{"title":"Compact RRT: A New Approach for Guided Sampling Applied to Environment Representation and Path Planning in Mobile Robotics","authors":"Stephanie Kamarry, L. Molina, E. Carvalho, E. Freire","doi":"10.1109/LARS-SBR.2015.40","DOIUrl":"https://doi.org/10.1109/LARS-SBR.2015.40","url":null,"abstract":"In this paper it is presented a new approach to increase the dispersion of the nodes in the RRT, this approach allows a compact representation of the environment by reducing the nodes redundancy, with this, the number of samples discarded, the computational cost and the processing time of tree growth is also reduced. The developed method performs the polarization of the nodes creating search regions with the highest probability of connectivity to the tree, these regions are created from environmental discretization. Furthermore, the polarization technique presented in this paper is robust to environmental variation, not reducing its performance in more complex environments with narrow passages or long corridors. When using the Compact RRT, path planning stage is faster, because the number of nodes in the tree will be lower compared to Classic RRT.","PeriodicalId":360398,"journal":{"name":"2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125003437","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
Distributed Object Subtraction 3D Mapping 分布式对象减法3D映射
2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR) Pub Date : 2015-10-01 DOI: 10.1109/LARS-SBR.2015.36
L. A. Souto, T. Nascimento
{"title":"Distributed Object Subtraction 3D Mapping","authors":"L. A. Souto, T. Nascimento","doi":"10.1109/LARS-SBR.2015.36","DOIUrl":"https://doi.org/10.1109/LARS-SBR.2015.36","url":null,"abstract":"When using RGB-D SLAM algorithms, a robot often takes into account dynamic and static objects during the 3D mapping step. This paper aims to present a novel approach in the mapping step of Simultaneous Localization and Mapping (SLAM) and map merging algorithms to a multi-robots system. The Object Subtraction Mapping (OS-Map) algorithm subtracts movable objects from the 3D environment and creates a clean 3D map. Therefore, it will be possible to merge the maps in a multi-robot scenario. With the availability of low-cost RGB-D sensors such as the Microsoft Kinect, our approach can be applied to low-cost robots. Both algorithms were applied to a TurtleBot 2 platform which has a RGB-D sensor as its main sensor. The results demonstrated the efficiency on generating and merging clean and accurate maps, using the OS-Map algorithm alongside a RGB-D SLAM approach.","PeriodicalId":360398,"journal":{"name":"2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127145709","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
A Robotic Flying Crane Controlled by an Embedded Computer Cluster 一种由嵌入式计算机集群控制的机器人飞鹤
2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR) Pub Date : 2015-10-01 DOI: 10.1109/LARS-SBR.2015.37
C. G. Ribeiro, Max Suel Dutra, Aline Rabelo, Filipe Oliveira, Allan Barbosa, Luciano Frinhani, Douglas Porto, Rayanne Milanez
{"title":"A Robotic Flying Crane Controlled by an Embedded Computer Cluster","authors":"C. G. Ribeiro, Max Suel Dutra, Aline Rabelo, Filipe Oliveira, Allan Barbosa, Luciano Frinhani, Douglas Porto, Rayanne Milanez","doi":"10.1109/LARS-SBR.2015.37","DOIUrl":"https://doi.org/10.1109/LARS-SBR.2015.37","url":null,"abstract":"The applications of UAVs (Unmanned Aerial Vehicles) are growing up and becoming part of many daily tasks in many organizations. However, as matter of fact, the use of a UAV does not mean the decreasing of operational complexities and, consequently, the costs of perform its tasks. Some times this high cost is connected to the dependence of well-trained operators and huge remote control facilities to operate a sophisticated UAV's. This paper proposes a robotic flying crane using UAV that can perform its tasks as much independent of human interaction as possible, and with a minimum connection to any mission control facilities. This independence will be achieved by embedding the path mission control into the UAV. As path control is embedded, the UAV will have less connections issues with its control center and will be less dependable of human interaction. To prove this concept all kinematics and dynamics of a light than air vehicle (blimp) is develop, a prototype of an embedded parallel-distributed compute was constructed, and new procedures to resolve navigations and collision evasions issues are proposed. The new evasion procedures were implemented into a simulator and a new parallel / distributed program for optimal path discover was developed to be used into the cluster prototype. Tests of the evasion procedures simulator were satisfactory and speed up of embedded proposed cluster showed better performance of proposed framework.","PeriodicalId":360398,"journal":{"name":"2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130646205","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
Robot Navigation by Gesture Recognition with ROS and Kinect 基于ROS和Kinect的手势识别机器人导航
2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR) Pub Date : 2015-10-01 DOI: 10.1109/LARS-SBR.2015.21
Danilo Giacomin Schneider, Leonardo Lima da Silva, P. Diehl, Adriano Henrique Rossette Leite, Guilherme Sousa Bastos
{"title":"Robot Navigation by Gesture Recognition with ROS and Kinect","authors":"Danilo Giacomin Schneider, Leonardo Lima da Silva, P. Diehl, Adriano Henrique Rossette Leite, Guilherme Sousa Bastos","doi":"10.1109/LARS-SBR.2015.21","DOIUrl":"https://doi.org/10.1109/LARS-SBR.2015.21","url":null,"abstract":"This project aims to use the ROS (Robot Operating System) framework and its tools to classify simple gestures developed by the upper limbs of the user. The capture of the data movement is made by the Kinect sensor through ROS packages that allow the calibration and recognition of users. The obtained data is processed by fuzzy logic control, converting them into acceptable values for the robot movement control.","PeriodicalId":360398,"journal":{"name":"2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR)","volume":"36 (2017) 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129254491","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
An Architecture for Computational Control of an Industrial Machine for Classifying Chestnuts 工业板栗分级机的计算控制体系
2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR) Pub Date : 2015-10-01 DOI: 10.1109/LARS-SBR.2015.52
H. H. Álvarez-Valera, Edwin Bolivar-Vilca, Claudia Cervantes-Jilaja, Emil E. Cuadros-Zegarra, D. Barrios-Aranibar, R. E. Patiño-Escarcina
{"title":"An Architecture for Computational Control of an Industrial Machine for Classifying Chestnuts","authors":"H. H. Álvarez-Valera, Edwin Bolivar-Vilca, Claudia Cervantes-Jilaja, Emil E. Cuadros-Zegarra, D. Barrios-Aranibar, R. E. Patiño-Escarcina","doi":"10.1109/LARS-SBR.2015.52","DOIUrl":"https://doi.org/10.1109/LARS-SBR.2015.52","url":null,"abstract":"Nowadays, the automation of industrial machines increase the productivity and efficiency of the mass production business. These machines are mainly composed of expensive electrical and mechanical modules to achieve companies production goals. However, many of these do not have information systems capable of providing the user relevant production data. In this work, the authors present an architecture for industrial automation machines of the chestnuts selection process, obtaining some features such as efficiency, effectiveness, high free configurability and low cost of maintenance and construction. This architecture is composed by three different modules: Mechanical components module, responsible of the physical parts management which interact directly with the products. Electrical components module, responsible for transferring data between the computational and mechanical layer through sensors and programs made. Finally, computational layer, responsible for two main tasks: process the necessary selection algorithms, sending the results to the electronic layer and run an information system, used to manage basic machine control operations, and generate the production data through the time.","PeriodicalId":360398,"journal":{"name":"2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133793749","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
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