发布求助
文献互助 智能选刊 最新文献

2022 19th International Conference on Ubiquitous Robots (UR)最新文献

筛选
英文 中文
Indoor/Outdoor Transition Recognition Based on Door Detection 基于门检测的室内外过渡识别
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826236
Seohyun Jeon, Minjung Kim, Seunghwan Park, Jaeyeon Lee
{"title":"Indoor/Outdoor Transition Recognition Based on Door Detection","authors":"Seohyun Jeon, Minjung Kim, Seunghwan Park, Jaeyeon Lee","doi":"10.1109/ur55393.2022.9826236","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826236","url":null,"abstract":"An autonomous navigating mobile robot uses various sensors for localization, such as GPS, laser scanner, IMU, odometer, and camera. These sensors use different weights and parameters according to the location, whether the robot is in indoors or outdoors. For both indoor and outdoor (IO) seamless navigation, the robot needs to know where the robot is, either indoors or outdoors, and when the IO transition has been made. This way the robot can switch the appropriate weights and parameters at the right time.This paper describes the method of identifying the moment when the indoor and outdoor transition is made. In order to recognize the time of IO transition, door detection with YOLOv5 is used. As the robot approaches the door, the detected bounding box of the door shows changes in size. This feature is used for IO transition recognition. The algorithm is tested with two scenarios and it shows that this method is simple and applicable to real world and the result is reliable to the detection failure.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125548489","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
Online Path Planning for Aircraft De-Icing Trucks with Dynamic Nonholonomic Constraints 具有动态非完整约束的飞机除冰车在线路径规划
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826240
H. S. Hoj, S. Hansen, Elo Svanebjerg
{"title":"Online Path Planning for Aircraft De-Icing Trucks with Dynamic Nonholonomic Constraints","authors":"H. S. Hoj, S. Hansen, Elo Svanebjerg","doi":"10.1109/ur55393.2022.9826240","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826240","url":null,"abstract":"This paper presents a method for online path planning for large and heavy de-icing trucks in an airport environment using a continuous hybrid search tree with cost optimization and search heuristics. The vehicle’s dynamic nonholonomic kinematic constraints pose a challenge for traditional planners. The path is significantly constrained by both the minimum turning radius and the limitation on the rate of change of the steering angle. Since the truck requires a lot of space to change its orientation, the entire path needs to be planned in advance to reach the desired goal position and orientation. By building a gridless tree of kinematically feasible path segments and expanding it from the initial position to the goal, the algorithm ensures that a valid trajectory is found which is physically executable. Obstacle avoidance is done using cost maps supporting a dynamic robot footprint. To improve its performance, the tree expansion is guided by a heuristic function and explores multiple paths in parallel. The solution has been implemented within the Robot Operating System (ROS) framework and can run in near real-time on a low-power computing device on the vehicle. Validation of the numerous enhancements are demonstrated in simulation showing good performance.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129242625","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
Change Detection in Unmanned Aerial Vehicle Images for Industrial Infrastructure Rooftop Monitoring 面向工业基础设施屋顶监控的无人机图像变化检测
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826274
Inmo Jang, Suckhyun Lim, H. Jeon
{"title":"Change Detection in Unmanned Aerial Vehicle Images for Industrial Infrastructure Rooftop Monitoring","authors":"Inmo Jang, Suckhyun Lim, H. Jeon","doi":"10.1109/ur55393.2022.9826274","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826274","url":null,"abstract":"This work proposes a change detection algorithm based on aerial images from an UAV (Unmanned Aerial Vehicle) for infrastructure rooftop monitoring. Taking pixel-wise differences simply between different temporal aerial images for the same scene may cause many false positives because of (a) the residual misalignments even after an image alignment preprocess; and (b) shadow and lightness differences in the images. To address such inherent characteristics of UAV images that are unfavourable in image comparing, we propose to use (a) a colour distance metric based on a weighted LAB space, which can not only mitigate the shadow effects but also enable users to be flexibly involved in detecting specific-coloured objects; (b) a Gaussian-blur filtering to emphasize major changes, while neutralising subtle changes; and (c) long-edge removal and local refinement process to reduce major false positives caused by the residual misalignments. We also conduct a mock-up experiment at a real infrastructure plant to evaluate the proposed method in terms of detecting smoke, liquid leakage, and cracking ducts, which are major phonomena of industrial malfunctions and accidents. The results show that the algorithm is able to spot the smoke and liquid leakage. On the contrary, detecting cracks is found to be not straightforward as they are viewed relatively small to be detected at the drone-filming height. We also discuss how to overcome this limitation and suggest potential approaches to improve the proposed algorithm further.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133143623","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
Vision-based Localization Using by Line with Point for Feature loss 基于点与线的特征丢失视觉定位
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826241
Kyu-Hyun Sung, S. Manzoor, HyunJi Park, Tae-Yong Kuc
{"title":"Vision-based Localization Using by Line with Point for Feature loss","authors":"Kyu-Hyun Sung, S. Manzoor, HyunJi Park, Tae-Yong Kuc","doi":"10.1109/ur55393.2022.9826241","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826241","url":null,"abstract":"This paper presents a solution to overcome the shortcomings of point feature localization, and estimates the pose using points and lines. Vision-based localization estimates the position and orientation from camera information. It is used in unmanned driving systems, AR (Augmented Reality), and VR (Virtual Reality) to recognize the surrounding environment. Real-time performance is a challenging task for these systems to accomplish the missions based on the determined position. In this situation, ORB feature point extraction method is used. However, ORB feature extraction is based on points, position estimation cannot be performed if the feature cannot be extracted. In this paper, we handle this issue using our proposed architecture by extracting the line and using the number of missing features to estimate the camera’s orientation. We also created an experimental environment in the actual world and confirmed the validity of the presented algorithm.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129403323","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
Estimation of Cylinders parameters from point clouds using Least Square Best Fit Method * 基于最小二乘最佳拟合方法的点云柱面参数估计*
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826270
In-Gyu Park, Jihyun Park, Hyojun Lee, J. Park, Hyo Jung Kim, Jeong-Hwan Hwang, Jong-Chan Kim, Kyoungseok Noh, Sung-Jo Yun, Young-Ho Choi
{"title":"Estimation of Cylinders parameters from point clouds using Least Square Best Fit Method *","authors":"In-Gyu Park, Jihyun Park, Hyojun Lee, J. Park, Hyo Jung Kim, Jeong-Hwan Hwang, Jong-Chan Kim, Kyoungseok Noh, Sung-Jo Yun, Young-Ho Choi","doi":"10.1109/ur55393.2022.9826270","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826270","url":null,"abstract":"This paper relates to an algorithm for estimating shape parameters through Least Square Best Fit Cylinder from point cloud data. What is proposed in this paper is to perform least square best fit circle at the same time to obtain information on the start and or end of the cylinder. The reason is that the cylinder shape parameters do not provide accurate starting point information, and the end is not always perpendicular to the cylinder. In order to verify the usefulness of the determined cylinder shape parameters, it is applied to the 3 Dimensional ellipse cutting process of the adjustment pipe. As a result, it precisely calculates the shape parameters of the cylinder and shows that the cylinder’s 3 dimensional ellipse cutting operating is precisely performed by using this information.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117123647","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
Development of the Load-balanced Bin Packing System 负载平衡式装箱系统的研制
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826277
Jeongwon Pyo, Kwang-Hee Lee, Hyuncheol Kim, Tae-Yong Kuc
{"title":"Development of the Load-balanced Bin Packing System","authors":"Jeongwon Pyo, Kwang-Hee Lee, Hyuncheol Kim, Tae-Yong Kuc","doi":"10.1109/ur55393.2022.9826277","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826277","url":null,"abstract":"Research on robots is one of the topics that have been actively studied before. And recently, as the demand for factory automation increases, research for factory automation using robots is being actively conducted. However, it is difficult for robots to replace all tasks of people currently working in factories. Accordingly, the demand for research in which automated robots and humans collaborate is increasing. In this paper, we present a load-balanced bin packing system for both a robot and a human to perform bin packing efficiently. When a robot packs an object into a target box, it takes into account the weight of the object and packs it so that the center of gravity of the box is as central as possible, so that a person can carry the packed box more stably. In experiments, we show the effectiveness of this system by configuring an environment similar to the actual line process and performing load-balanced bin packing in this environment.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121674115","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
Box segmentation, position and size estimation for robotic box handling applications 机器人箱体处理应用的箱体分割、位置和尺寸估计
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826264
Juan Medrano, Francisco Yumbla, Geonuk Lee, Junseup Yi, Minjae Kim, Eugene Auh, Jeong Yeol Park, Ilho Oh, Nabih Pico, H. Moon
{"title":"Box segmentation, position and size estimation for robotic box handling applications","authors":"Juan Medrano, Francisco Yumbla, Geonuk Lee, Junseup Yi, Minjae Kim, Eugene Auh, Jeong Yeol Park, Ilho Oh, Nabih Pico, H. Moon","doi":"10.1109/ur55393.2022.9826264","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826264","url":null,"abstract":"This work presents a vision system developed for the robotic handling of boxes in logistic applications. The fundamental problem is to reliably and accurately estimate the position and size of boxes in the environment to enable successful and safe handling. To sense the environment we use color and depth images coming from RGB and Time-of-Flight cameras. The vision task is divided into two sub-problems. First, an instance segmentation problem in the color image space approached using deep learning to detect objects; second, a position, orientation and size estimation problem is solved using geometric algorithms over the input point cloud of each object. Our proposed approach achieves an average position estimation error of 7mm and size estimation error of 8mm. We demonstrate the effectiveness of our approach in real tests by handling carton and Styrofoam boxes of various sizes with a 6 Degree of Freedom robot using our proposed vision system.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"11 2-3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120928787","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
Limiting Reconstruction Capability of Autoencoders Using Moving Backward Pseudo Anomalies 使用反向移动伪异常的自编码器的极限重构能力
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826251
M. Astrid, M. Zaheer, Seung-Ik Lee
{"title":"Limiting Reconstruction Capability of Autoencoders Using Moving Backward Pseudo Anomalies","authors":"M. Astrid, M. Zaheer, Seung-Ik Lee","doi":"10.1109/ur55393.2022.9826251","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826251","url":null,"abstract":"Video anomaly detection is one of important components in autonomous surveillance system. However, since anomalous events rarely occurs, it is common to approach this problem using one-class-classification problem in which only normal training data are provided. Typically, an autoencoder (AE) is trained to reconstruct the normal data. As the AE is not trained using the real anomalies, it is expected to poorly reconstruct anomalies in the test time. However, the expectation is often not met as AE can also reconstruct anomalous data as well. Several researchers propose to limit the reconstruction capability of AE using pseudo anomalies constructed from the normal data. In this work, we explore another type of pseudo anomaly, i.e., moving backward. Experiments in two video anomaly detection benchmark datasets, i.e., Ped2 and Avenue, show the effectiveness of our method in limiting the reconstruction capability of AE.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125741123","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
An Algorithm of Automatic Stair Climbing for a Vision-driven Hexapod Robot 视觉驱动六足机器人自动爬楼梯算法研究
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826286
Yangmuzi Zhang, Shengjie Yang, Yunting Jia, Xuan Xiao, Jianming Wang, Yunhai Gao
{"title":"An Algorithm of Automatic Stair Climbing for a Vision-driven Hexapod Robot","authors":"Yangmuzi Zhang, Shengjie Yang, Yunting Jia, Xuan Xiao, Jianming Wang, Yunhai Gao","doi":"10.1109/ur55393.2022.9826286","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826286","url":null,"abstract":"In this paper, an automatic stair climbing algorithm is proposed for a vision-driven hexapod robot. The vision system recognizes and locates the stairs based on yolov3, and then detects the relevant data of the stairs in real time. On the basis, the algorithm can generate the corresponding motion plan according to the stair climbing strategy. To validate our algorithm, a vision-driven hexapod robot was constructed and tested in physical experiments in the setting of multiple sets of stairs. The experimental results show that our algorithm has a good measurement accuracy and good environmental adaptability.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133599133","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
Development of microsurgical robot arm using spherical serial RCM mechanism and commercial laparoscopic surgical robot instrument* 采用球形串联RCM机构和商用腹腔镜手术机器人仪器的显微手术机械臂研制*
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826280
Dongeun Choi, Chunwoo Kim, Jae-Bok Song
{"title":"Development of microsurgical robot arm using spherical serial RCM mechanism and commercial laparoscopic surgical robot instrument*","authors":"Dongeun Choi, Chunwoo Kim, Jae-Bok Song","doi":"10.1109/ur55393.2022.9826280","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826280","url":null,"abstract":"Laparoscopic surgery is one of the most established application of the surgical robot, and many commercial surgical robot systems are available. These laparoscopic surgical robots have remote center of motion (RCM) mechanism to prevent the motion of the surgical tool in an unwanted direction. In addition, various surgical instruments with high maneuverability and precision in a narrow space are available with these robots. Using these advantages, studies have been made to apply laparoscopic surgical robots to microsurgery, but they are limited by the high price and large size of the robots. In this paper, we introduce the development of a compact surgical robot arm for microsurgery, such as anastomosis, which can be used with the instruments of a commercial laparoscopic surgical robot. This robot arm utilizes a spherical serial RCM mechanism to ensure that translation of the surgical instrument is always directed toward the surgical site, improving stability and accuracy. In addition, the surgical instrument of a commercial laparoscopic surgical robot Revo-i, can be attached and driven by the arm. Design and manufacturing of the microsurgical robot arm is presented.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133006474","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信