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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献

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Compact magnetic wheeled robot for inspecting complex shaped structures in generator housings and similar environments 用于检查发电机外壳和类似环境中复杂形状结构的紧凑型磁力轮式机器人
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2009-12-15 DOI: 10.1109/IROS.2009.5354690
W. Fischer, G. Caprari, R. Siegwart, R. Moser
{"title":"Compact magnetic wheeled robot for inspecting complex shaped structures in generator housings and similar environments","authors":"W. Fischer, G. Caprari, R. Siegwart, R. Moser","doi":"10.1109/IROS.2009.5354690","DOIUrl":"https://doi.org/10.1109/IROS.2009.5354690","url":null,"abstract":"In this paper, we present the mechanical design of a compact magnetic wheeled robot - with the goal to do inspection and vibration measurements in the housings of large generators and similar environments in power plants. After a detailed analysis of the specifications in this application, we present a new vehicle structure that allows for passing sharp concave corners - even with low friction coefficient between wheels and surface - and without using an additional active DOF. The advantages of this structure and the core parameters for its optimization are described in a quasi-static 2D calculation model. A prototype was implemented and successfully tested both in laboratory and real environments. The paper concludes pointing out the future improvements for a final industrial version.","PeriodicalId":376178,"journal":{"name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114613622","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: 22
Steering a humanoid robot by its head 用头部操纵人形机器人
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2009-12-15 DOI: 10.1109/IROS.2009.5354503
M. Sreenivasa, P. Souéres, J. Laumond, A. Berthoz
{"title":"Steering a humanoid robot by its head","authors":"M. Sreenivasa, P. Souéres, J. Laumond, A. Berthoz","doi":"10.1109/IROS.2009.5354503","DOIUrl":"https://doi.org/10.1109/IROS.2009.5354503","url":null,"abstract":"We present a novel method of guiding a humanoid robot, including stepping, by allowing a user to move its head. The motivation behind this approach comes from research in the field of human neuroscience. In human locomotion it has been found that the head plays a very important role in guiding and planning motion. We use this idea to generate humanoid whole-body motion derived purely as a result of moving the head joint. The input to move the head joint is provided by a user via a 6D mouse. The algorithm presented in this study judges when further head movement leads to instability, and then generates stepping motions to stabilize the robot. By providing the software with autonomy to decide when and where to step, the user is allowed to simply steer the robot head (via visual feedback) without worrying about stability. We illustrate our results by presenting experiments conducted in simulation, as well as on our robot, HRP2.","PeriodicalId":376178,"journal":{"name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"15 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120860662","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
Monocular vision SLAM for indoor aerial vehicles 用于室内飞行器的单目视觉SLAM
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2009-12-15 DOI: 10.1109/IROS.2009.5354050
K. Çelik, Arun Kumar Somani
{"title":"Monocular vision SLAM for indoor aerial vehicles","authors":"K. Çelik, Arun Kumar Somani","doi":"10.1109/IROS.2009.5354050","DOIUrl":"https://doi.org/10.1109/IROS.2009.5354050","url":null,"abstract":"This paper presents a novel indoor navigation and ranging strategy by using a monocular camera. The proposed algorithms are integrated with simultaneous localization and mapping (SLAM) with a focus on indoor aerial vehicle applications. We experimentally validate the proposed algorithms by using a fully self-contained micro aerial vehicle (MAV) with on-board image processing and SLAM capabilities. The range measurement strategy is inspired by the key adaptive mechanisms for depth perception and pattern recognition found in humans and intelligent animals. The navigation strategy assumes an unknown, GPS-denied environment, which is representable via corner-like feature points and straight architectural lines. Experimental results show that the system is only limited by the capabilities of the camera and the availability of good corners.","PeriodicalId":376178,"journal":{"name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133049601","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: 114
Drawing stereo disparity images into occupancy grids: Measurement model and fast implementation 将立体视差图像绘制到占用网格:测量模型和快速实现
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2009-12-15 DOI: 10.1109/IROS.2009.5354638
F. Andert
{"title":"Drawing stereo disparity images into occupancy grids: Measurement model and fast implementation","authors":"F. Andert","doi":"10.1109/IROS.2009.5354638","DOIUrl":"https://doi.org/10.1109/IROS.2009.5354638","url":null,"abstract":"Mapping the environment is necessary for navigation in unknown areas with autonomous vehicles. In this context, a method to process depth images for occupancy grid mapping is developed. Input data are images with pixel-based distance information and the corresponding camera poses. A measurement model, focusing on stereo-based depth images and their characteristics, is presented. Since an enormous amount of range data must be processed, improvements like image pyramids are used so that the image analysis is possible in real-time. Output is a grid-based image interpretation for sensor fusion, i.e. a world-centric occupancy probability array containing information stored in a single image. Different approaches to draw pixel information into a grid map are presented and discussed in terms of accuracy and performance. As a final result, 3D occupancy grids from aerial image sequences are presented.","PeriodicalId":376178,"journal":{"name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"50 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133617505","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: 49
3D Laser scan registration of dual-robot system using vision 基于视觉的双机器人三维激光扫描配准
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2009-12-15 DOI: 10.1109/IROS.2009.5354773
R. Kaushik, Jizhong Xiao, William Morris, Zhigang Zhu
{"title":"3D Laser scan registration of dual-robot system using vision","authors":"R. Kaushik, Jizhong Xiao, William Morris, Zhigang Zhu","doi":"10.1109/IROS.2009.5354773","DOIUrl":"https://doi.org/10.1109/IROS.2009.5354773","url":null,"abstract":"This paper presents a novel technique to register a set of two 3D laser scans obtained from a ground robot and a wall-climbing robot which operates on the ceiling to construct a complete map of the indoor environment. Traditional laser scan registration methods like the Iterative Closest Point (ICP) algorithm will not converge to a global minimum without a good initial estimate of the transformation matrix. Our technique uses an overhead camera on the wall-climbing robot to keep line of sight with the ground robot and solves the Perspective Three Point (P3P) Problem to obtain the transformation matrix between the wall-climbing robot and the ground robot, which serves as a good initial estimate for the ICP algorithm to further refine the transformation matrix. We propose a novel particle filter algorithm to identify the real pose of the wall-climbing robot out of up to four possible solutions to P3P problem using Grunert's algorithm. The initial estimate ensures convergence of the ICP algorithm to a global minimum at all times. The simulation and experimental results indicate that the resulting composite laser map is accurate. In addition, the vision-based approach increases the efficiency by reducing the number of iterations of the ICP algorithm.","PeriodicalId":376178,"journal":{"name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128973916","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
3D pose and velocity visual tracking based on sequential region of interest acquisition 基于感兴趣序列区域获取的三维姿态和速度视觉跟踪
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2009-10-10 DOI: 10.1109/IROS.2009.5354642
Redwan Dahmouche, N. Andreff, Y. Mezouar, P. Martinet
{"title":"3D pose and velocity visual tracking based on sequential region of interest acquisition","authors":"Redwan Dahmouche, N. Andreff, Y. Mezouar, P. Martinet","doi":"10.1109/IROS.2009.5354642","DOIUrl":"https://doi.org/10.1109/IROS.2009.5354642","url":null,"abstract":"This paper presents a high speed visual tracking method based on non simultaneous subimages acquisition. This method is formulated as a virtual visual servoing scheme. The sequential acquisition of regions of interest has a double benefit on visual servoing. The first one is that this acquisition method allows to increase the visual control sampling frequency by reducing the data amount to acquire and to transmit by the camera. The second one is that the associated image projection model depends on the observed object pose and velocity. Thanks to this property, a new vision-based control law can be defined. The particularity of this control law is that the control output consists of the kinematic and the dynamic twists. This allows to enhance the control performance in trajectory tracking applications. The experimental results in high speed visual tracking application show the effectiveness of this approach.","PeriodicalId":376178,"journal":{"name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115143976","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: 10
Event-driven loop closure in multi-robot mapping 多机器人映射中的事件驱动循环闭包
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2009-10-10 DOI: 10.1109/IROS.2009.5354335
Teresa Vidal-Calleja, Cyrille Berger, S. Lacroix
{"title":"Event-driven loop closure in multi-robot mapping","authors":"Teresa Vidal-Calleja, Cyrille Berger, S. Lacroix","doi":"10.1109/IROS.2009.5354335","DOIUrl":"https://doi.org/10.1109/IROS.2009.5354335","url":null,"abstract":"A large-scale mapping approach is combined with multiple robots events to achieve cooperative mapping. The mapping approach used is based on hierarchical SLAM -global level and local maps-, which is generalized for the multi-robot case. In particular, the consequences of multi-robot loop closing events (common landmarks detection and relative pose measurement between robots) are analyzed and managed at a global level. We present simulation results for each of these events using aerial and ground robots, and experimental results obtained with ground robots.","PeriodicalId":376178,"journal":{"name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"23 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116633904","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
Variable impedance magnetorheological Clutch Actuator and telerobotic implementation 可变阻抗磁流变离合器执行器及遥控机器人实现
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2009-10-10 DOI: 10.1109/IROS.2009.5354689
Daniel S. Walker, Dan Thoma, G. Niemeyer
{"title":"Variable impedance magnetorheological Clutch Actuator and telerobotic implementation","authors":"Daniel S. Walker, Dan Thoma, G. Niemeyer","doi":"10.1109/IROS.2009.5354689","DOIUrl":"https://doi.org/10.1109/IROS.2009.5354689","url":null,"abstract":"Variable impedance actuation is characterized by the ability to independently set output force and output impedance for a robotic device. Adjusting the output impedance in real-time allows a device to better adapt to a variety of tasks, operate in human-like fashion, and support human safety. This paper focuses on a series clutch actuator based on magnetorheological fluid which allows a fast, electrical change of the impedance while maintaining good force tracking. In particular the mechanical clutch can alter the high-frequency impedance, decoupling the motor inertia and thus reducing impact forces. We present the mechanical clutch design and a control system architecture to automatically adjust the fluid magnetization level and leverage the clutch benefits. Experiments verify torque tracking and impact force reduction both in autonomous and telerobotic operation. The actuator was designed and manufactured in collaboration with the Materials Design Institute at Los Alamos National Laboratory, and is tested in a single degree of freedom demonstration.","PeriodicalId":376178,"journal":{"name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116914443","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: 32
A component based design framework for robot software architecture 基于组件的机器人软件体系结构设计框架
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2009-10-10 DOI: 10.1109/IROS.2009.5354161
Hongxing Wei, Xinming Duan, Shiyi Li, Guofeng Tong, Tianmiao Wang
{"title":"A component based design framework for robot software architecture","authors":"Hongxing Wei, Xinming Duan, Shiyi Li, Guofeng Tong, Tianmiao Wang","doi":"10.1109/IROS.2009.5354161","DOIUrl":"https://doi.org/10.1109/IROS.2009.5354161","url":null,"abstract":"Componentization is an important method to improve the reusability of robot software and reduce the difficulty of system design. In this paper, we propose a component based design framework for robot software architecture. First, the robot system is functionally decomposed into reusable components. On this basis, the static model and run-time model of component are established, and a component interface definition language based on the model is designed. Second, a lightweight middleware is proposed according to the communication mode between robot components, and a component development tool and a visual component assembly environment based on the middleware are designed to facilitate the developers. Finally, an application based on the framework is introduced to verify the validation of the design framework.","PeriodicalId":376178,"journal":{"name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"227 S721","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120834960","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: 15
Fast shadow detection for urban autonomous driving applications 用于城市自动驾驶应用的快速阴影检测
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2009-10-10 DOI: 10.1109/IROS.2009.5354613
Soohoon Park, Sejoon Lim
{"title":"Fast shadow detection for urban autonomous driving applications","authors":"Soohoon Park, Sejoon Lim","doi":"10.1109/IROS.2009.5354613","DOIUrl":"https://doi.org/10.1109/IROS.2009.5354613","url":null,"abstract":"This paper presents shadow detection methods for vision-based autonomous driving in an urban environment. Shadows misclassified as objects create problems in autonomous driving applications. Real-time efficient algorithms in dynamic background settings are proposed. Without the static background assumption, which was often used in previous work to develop fast algorithms, our scheme estimates the varying background efficiently. A combination of various features classifies each pixel into one of the following categories: road, shadow, dark object, or other objects. In addition to pixel level classification, spatial context is also used to identify the shadows. Our results show that our methods perform well for autonomous driving applications and are fast enough to work in real time.","PeriodicalId":376178,"journal":{"name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"52 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120985139","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
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