2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)最新文献_第4页

High-level design of integrated microsystems - arithmetic perspective 集成微系统的高级设计——算术透视

2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058511

Z. Zilic, B. Karajica

引用次数: 3

Artificial tactile perception for surface identification using a triple axis accelerometer probe 利用三轴加速度计探头进行表面识别的人工触觉感知

2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058547

Patrick Dallaire, Daniel Émond, P. Giguère, B. Chaib-draa

{"title":"Artificial tactile perception for surface identification using a triple axis accelerometer probe","authors":"Patrick Dallaire, Daniel Émond, P. Giguère, B. Chaib-draa","doi":"10.1109/ROSE.2011.6058547","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058547","url":null,"abstract":"In recent years, autonomous robots have been increasingly deployed in unknown environments. In order to cope with the unknown, the capability to train autonomously the perception model of an environment is highly desirable. By developing proper sensing technology, this task can be significantly facilitated. In this paper, we explore the problem of artificial tactile perception, aimed at surface identification. To this end, we introduce a simple tactile probe based upon triple axis accelerometers. This tactile probe was tested on a large collection (28) of flat surfaces, using a controlled test bed. In a first set of experiments, we demonstrated the discrimination capabilities of the probe, by achieving a surface recognition rate of 96.7% with 1 second of data, using a Support Vector Machine classifier. We also demonstrate that similar results can be achieved without the need for ground truth or the actual number of surfaces using Dirichlet process mixture models, a Bayesian nonparametric approach. These two experiments indicate that tactile sensing is, thus, a potentially viable solution for autonomous surface identification.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122215523","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

Multi-robot, multi-rendezvous recharging paradigm: An opportunistic control strategy 多机器人多交会充电模式:机会控制策略

2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058517

Soheil Keshmiri

引用次数: 6

Biology-inspired multimodal tactile sensor system 生物学启发的多模态触觉传感器系统

2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058548

E. Petriu

引用次数: 4

Power scheduling between channel and parameter estimation for homogeneous sensor networks 均匀传感器网络的信道间功率调度与参数估计

2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058513

Li Zhang, Xinyuan Wang, Xianda Zhang

{"title":"Power scheduling between channel and parameter estimation for homogeneous sensor networks","authors":"Li Zhang, Xinyuan Wang, Xianda Zhang","doi":"10.1109/ROSE.2011.6058513","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058513","url":null,"abstract":"This paper investigates the effect of channel estimation error (CEE) on the performance of distributed estimation of an unknown parameter in wireless sensor networks (WSNs). Firstly, considering the maximum likelihood estimator (MLE) of the unknown parameter has a high complexity preventing its practical implementation, a suboptimal ML estimator is derived as a low complexity alternative. Considering training pilots are used to estimate the unknown channel, the power scheduling between the training pilots and sensor observation in the homogeneous sensing environment is derived. Since the final average mean square error (MSE) depends on the unknown parameter, a lower bound of the MSE is minimized to compensate the CEE. A closed-form power scheduling policy is presented, which shows that more than 50% power should be allocated to sensor observation transmission. Simulation results demonstrate that the presented power scheduling policy has better performance than the equal power scheduling policy, and even performs close to the optimal power scheduling, which is derived based on the knowledge of the unknown parameter.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125159920","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

In search of a cost effective way to develop autonomous floor mapping robots 寻找一种经济有效的方法来开发自主地板测绘机器人

2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058510

Hung Nguyen, Akihiro Eguchi, D. Hooten

引用次数: 6

Static stable regions acording to Center Of Press to quantify humanoid walking stability 静态稳定区域根据中心压来量化人形行走的稳定性

2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058526

Kuo-Yang Tu, Yun-Hsiang Sun

引用次数: 0

Lens distortion correction for thermal cameras to improve aerial imaging with small-scale UAVs 热像仪的镜头畸变校正以提高小型无人机的航空成像

2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058528

S. Yahyanejad, Jakub Misiorny, B. Rinner

{"title":"Lens distortion correction for thermal cameras to improve aerial imaging with small-scale UAVs","authors":"S. Yahyanejad, Jakub Misiorny, B. Rinner","doi":"10.1109/ROSE.2011.6058528","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058528","url":null,"abstract":"Lens distortion as a result of the shape and construction of a photographic lens is a common problem in image acquisition. Thermal cameras are no exception to this artifact. So far many methods have been developed to formulate the distortion model and almost all of them exploit the patterns in visible range to calibrate the lenses in RGB cameras. A checkerboard is among the most common and well-defined patterns for RGB camera calibration. Unfortunately, most of those patterns will not be easily visible in images taken by a thermal camera. Furthermore, since the thermal cameras measure the infrared radiation (heat), the conductivity of the heat to the bordering objects in the pattern might mitigate sharp edges, which will make detection of relevant features within the pattern harder and less precise. In this paper we propose an algorithm to construct a calibration pattern visible for the thermal infrared cameras. We show how to extract robust features out of the sensed checkerboard pattern which is used afterward for lens distortion correction. Further, we evaluate our method and compare it to results obtained from well established algorithms for visible-light lens calibration. We also demonstrate how distortion correction improves the image registration between thermal and RGB aerial images taken by small-scale unmanned aerial vehicles (UAVs).","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129249529","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

RAT: Robust animal tracking 老鼠:强大的动物追踪

2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2011-10-24 DOI: 10.1109/ROSE.2011.6058509

Rana Farah, J. Langlois, Guillaume-Alexandre Bilodeau

引用次数: 9

Modelling 3D camera movement for vibration characterisation and multiple object identification with application to lighting assessment 建模三维相机运动的振动特性和多目标识别与照明评估的应用

2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 1900-01-01 DOI: 10.1109/ROSE.2011.6058530

S. P. Chowdhury, K. Rafferty, S. Ferguson

{"title":"Modelling 3D camera movement for vibration characterisation and multiple object identification with application to lighting assessment","authors":"S. P. Chowdhury, K. Rafferty, S. Ferguson","doi":"10.1109/ROSE.2011.6058530","DOIUrl":"https://doi.org/10.1109/ROSE.2011.6058530","url":null,"abstract":"Utilising cameras as a means to survey the surrounding environment is becoming increasingly popular in a number of different research areas and applications. Central to using camera sensors as input to a vision system, is the need to be able to manipulate and process the information captured in these images. One such application, is the use of cameras to monitor the quality of airport landing lighting at aerodromes where a camera is placed inside an aircraft and used to record images of the lighting pattern during the landing phase of a flight. The images are processed to determine a performance metric. This requires the development of custom software for the localisation and identification of luminaires within the image data. However, because of the necessity to keep airport operations functioning as efficiently as possible, it is difficult to collect enough image data to develop, test and validate any developed software. In this paper, we present a technique to model a virtual landing lighting pattern. A mathematical model is postulated which represents the glide path of the aircraft including random deviations from the expected path. A morphological method has been developed to localise and track the luminaires under different operating conditions.","PeriodicalId":361472,"journal":{"name":"2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122301101","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