2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)最新文献_第3页

On 3D simulators for multi-robot systems in ROS: MORSE or Gazebo? 多机器人系统的三维模拟器在ROS: MORSE或Gazebo?

2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088134

F. Noori, David Portugal, R. Rocha, M. Couceiro

引用次数: 38

Tempered point clouds and octomaps: A step towards true 3D temperature measurement in unknown environments 调温点云和八层地图:在未知环境中实现真正的3D温度测量的一步

2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088145

B. Zeise, Bernardo Wagner

引用次数: 2

Position estimation of tethered micro unmanned aerial vehicle by observing the slack tether 基于松弛系绳的系绳微型无人机位置估计

2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088157

Seiga Kiribayashi, Kaede Yakushigawa, K. Nagatani

{"title":"Position estimation of tethered micro unmanned aerial vehicle by observing the slack tether","authors":"Seiga Kiribayashi, Kaede Yakushigawa, K. Nagatani","doi":"10.1109/SSRR.2017.8088157","DOIUrl":"https://doi.org/10.1109/SSRR.2017.8088157","url":null,"abstract":"At disaster sites, the use of Micro Unmanned Aerial Vehicles (MUAVs) is expected for human safety. One application is to support first-phase emergency restoration work conducted by teleoperated construction machines. To extend the operation time of a MUAV, the authors proposed a powerfeeding tethered MUAV to provide an overhead view of the site to operators. The target application is to be used outdoors, so a robust and simple position estimation method for the MUAV is required. Therefore, in this paper, the authors propose a position estimation method for the MUAV by observing the slack tether instead of using the Global Positioning System (GPS), vision sensors, or a laser rangefinder. The tether shape is assumed to be a catenary curve that can be estimated by measuring the tether's length, tension, and outlet direction. To evaluate the proposed method, the authors developed a prototype of a helipad with a tether winding mechanism for the tethered MUAV, which contains a measurement function of the tether status. Some indoor experimental results proved the feasibility of the proposed method.","PeriodicalId":403881,"journal":{"name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132533599","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

Safe navigation in dynamic, unknown, continuous, and cluttered environments 在动态、未知、连续和混乱的环境中安全导航

2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088169

Mike D'Arcy, Pooyan Fazli, D. Simon

引用次数: 7

Autonomous observation of multiple USVs from UAV while prioritizing camera tilt and yaw over UAV motion 在优先考虑相机倾斜和偏航而不是无人机运动的情况下，无人机自主观察多个usv

2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088154

C. Krishna, Mengdie Cao, R. Murphy

{"title":"Autonomous observation of multiple USVs from UAV while prioritizing camera tilt and yaw over UAV motion","authors":"C. Krishna, Mengdie Cao, R. Murphy","doi":"10.1109/SSRR.2017.8088154","DOIUrl":"https://doi.org/10.1109/SSRR.2017.8088154","url":null,"abstract":"This paper proposes a scheme for observing cooperative Unmanned Surface Vehicles (USV), using a rotorcraft Unmanned Aerial Vehicle (UAV) with camera movements (tilt and yaw) prioritized over UAV movements. Most of the current researches consider a fixed-wing type UAV for surveillance of multiple moving targets (MMT), whose functionality is limited to just UAV movements. Experiments in simulation are conducted and verified that, prioritizing camera movements increased the number of times each USV is visited (on an average by 5.68 times more), decreased the percentage of the duration that the UAV is not observing any USV (on an average by 19.8%) and increased the efficiency by decreasing the distance traveled by the UAV (on an average by 747 pixels) for the six test cases. Autonomous repositioning of the UAV at regular intervals to observe USVs during a disaster scenario will provide the operator with better situational awareness. Using a rotorcraft over a fixed-wing type UAV provides the operator with a flexibility of observing the target for the required duration by hovering and freedom of unrestricted movements, which help improve the efficiency of target observation.","PeriodicalId":403881,"journal":{"name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116279673","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

Vehicle detection and localization on bird's eye view elevation images using convolutional neural network 基于卷积神经网络的鸟瞰高程图像车辆检测与定位

2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088147

Shang-Lin Yu, Thomas Westfechtel, Ryunosuke Hamada, K. Ohno, S. Tadokoro

{"title":"Vehicle detection and localization on bird's eye view elevation images using convolutional neural network","authors":"Shang-Lin Yu, Thomas Westfechtel, Ryunosuke Hamada, K. Ohno, S. Tadokoro","doi":"10.1109/SSRR.2017.8088147","DOIUrl":"https://doi.org/10.1109/SSRR.2017.8088147","url":null,"abstract":"For autonomous vehicles, the ability to detect and localize surrounding vehicles is critical. It is fundamental for further processing steps like collision avoidance or path planning. This paper introduces a convolutional neural network- based vehicle detection and localization method using point cloud data acquired by a LIDAR sensor. Acquired point clouds are transformed into bird's eye view elevation images, where each pixel represents a grid cell of the horizontal x-y plane. We intentionally encode each pixel using three channels, namely the maximal, median and minimal height value of all points within the respective grid. A major advantage of this three channel representation is that it allows us to utilize common RGB image-based detection networks without modification. The bird's eye view elevation images are processed by a two stage detector. Due to the nature of the bird's eye view, each pixel of the image represent ground coordinates, meaning that the bounding box of detected vehicles correspond directly to the horizontal position of the vehicles. Therefore, in contrast to RGB-based detectors, we not just detect the vehicles, but simultaneously localize them in ground coordinates. To evaluate the accuracy of our method and the usefulness for further high-level applications like path planning, we evaluate the detection results based on the localization error in ground coordinates. Our proposed method achieves an average precision of 87.9% for an intersection over union (IoU) value of 0.5. In addition, 75% of the detected cars are localized with an absolute positioning error of below 0.2m.","PeriodicalId":403881,"journal":{"name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129558129","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: 47

Monocular visual-inertial state estimation on 3D large-scale scenes for UAVs navigation 无人机导航三维大尺度场景单目视觉惯性状态估计

2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088162

J. Su, Xutao Li, Yunming Ye, Yan Li

引用次数: 0

Visual pose stabilization of tethered small unmanned aerial system to assist drowning victim recovery 系绳小型无人机系统的视觉姿态稳定，以协助溺水者恢复

2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088149

J. Dufek, Xuesu Xiao, R. Murphy

{"title":"Visual pose stabilization of tethered small unmanned aerial system to assist drowning victim recovery","authors":"J. Dufek, Xuesu Xiao, R. Murphy","doi":"10.1109/SSRR.2017.8088149","DOIUrl":"https://doi.org/10.1109/SSRR.2017.8088149","url":null,"abstract":"This paper proposes a method for visual pose stabilization of Fotokite, a tethered small unmanned aerial system, using a forward facing monocular camera. Conventionally, Fotokite stabilizes itself only relative to its tether and not relative to the global frame. It is, therefore, susceptible to environmental disturbances (especially wind) or motion of its ground station. Related work proposed visual stabilization for unmanned aerial systems using a downward facing camera and homography estimation. The major disadvantage of this approach is that all the features used in the homography estimation must be in the same plane. The method proposed in this paper works for features in different planes and can be used with a forward-facing camera. This paper is the part of a bigger project on saving drowning victims using lifesaving unmanned surface vehicle visually servoed by Fotokite to reach the victims. Some of the used algorithms are motion sensitive and, therefore, it is desirable for Fotokite to keep its pose relative to the world. The method presented in this paper will enable to prevent gradual drifting of Fotokite in windy conditions typical for coastal areas or when the ground station is on a boat. The quality of pose stabilization was quantitatively analyzed in 9 trials by measuring metric displacement from the initial pose. The achieved mean metric displacement was 34 cm. The results were also compared to 3 trials with no stabilization.","PeriodicalId":403881,"journal":{"name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124515582","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

Robotic bridge statics assessment within strategic flood evacuation planning using low-cost sensors 利用低成本传感器进行洪水疏散规划中的机器人桥梁静力学评估

2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088133

Maik Benndorf, T. Haenselmann, Maximilian Garsch, N. Gebbeken, Christian A. Mueller, Tobias Fromm, T. Luczynski, A. Birk

引用次数: 5

Intelligent vehicle for search, rescue and transportation purposes 用于搜索、救援和运输的智能车辆

2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-01 DOI: 10.1109/SSRR.2017.8088148

Abdulla Al-Kaff, Francisco Miguel Moreno, A. D. L. Escalera, Jose M. Armingol

引用次数: 11