2010 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第7页

Mixed reality for unmanned aerial vehicle operations in near Earth environments 近地环境下无人机操作的混合现实

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5649417

J. Hing, P. Oh

引用次数: 5

Walking without thinking about it 走路时不加思考

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5654429

A. Herdt, Nicolas Perrin, Pierre-Brice Wieber

引用次数: 153

Scan-based SLAM with trajectory correction in underwater environments 水下环境下基于扫描的轨迹修正SLAM

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5649492

A. Burguera, G. Oliver, Yolanda González Cid

引用次数: 22

Subgraph-preconditioned conjugate gradients for large scale SLAM 大规模SLAM的子图预条件共轭梯度

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5650422

F. Dellaert, Justin Carlson, V. Ila, K. Ni, C. Thorpe

{"title":"Subgraph-preconditioned conjugate gradients for large scale SLAM","authors":"F. Dellaert, Justin Carlson, V. Ila, K. Ni, C. Thorpe","doi":"10.1109/IROS.2010.5650422","DOIUrl":"https://doi.org/10.1109/IROS.2010.5650422","url":null,"abstract":"In this paper we propose an efficient preconditioned conjugate gradients (PCG) approach to solving large-scale SLAM problems. While direct methods, popular in the literature, exhibit quadratic convergence and can be quite efficient for sparse problems, they typically require a lot of storage and efficient elimination orderings to be found. In contrast, iterative optimization methods only require access to the gradient and have a small memory footprint, but can suffer from poor convergence. Our new method, subgraph preconditioning, is obtained by re-interpreting the method of conjugate gradients in terms of the graphical model representation of the SLAM problem. The main idea is to combine the advantages of direct and iterative methods, by identifying a sub-problem that can be easily solved using direct methods, and solving for the remaining part using PCG. The easy sub-problems correspond to a spanning tree, a planar subgraph, or any other substructure that can be efficiently solved. As such, our approach provides new insights into the performance of state of the art iterative SLAM methods based on re-parameterized stochastic gradient descent. The efficiency of our new algorithm is illustrated on large datasets, both simulated and real.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131695557","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: 73

Automated handling of bio-nanowires for nanopackaging 用于纳米包装的生物纳米线的自动处理

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5649313

S. Fatikow, M. Bartenwerfer, F. Krohs, M. Mikczinski, F. Niewiera, M. Weigel-Jech, P. Saketi, P. Kallio

{"title":"Automated handling of bio-nanowires for nanopackaging","authors":"S. Fatikow, M. Bartenwerfer, F. Krohs, M. Mikczinski, F. Niewiera, M. Weigel-Jech, P. Saketi, P. Kallio","doi":"10.1109/IROS.2010.5649313","DOIUrl":"https://doi.org/10.1109/IROS.2010.5649313","url":null,"abstract":"The integration of biomaterials into micro/nano-sensors or micro/nano-systems is expected to improve the properties of such systems or even lead to the development of novel innovative systems. A key problem to be solved beforehand is the development and realization of proper preparation, handling and manipulation methods with respect to an industrial usage. To enable such a usage, the methods have to be automatable, robust to environmental changes as well as feasible in a scanning electron microscope (SEM). According to these points, the target of the presented efforts is to develop these methods for a future design of nanoelectronic parts and to solve packaging problems at the nanoscale. As a consequence, the paper presents a novel concept for the usage of biomaterials, such as DNA and wood fibers/fibrils, for the packaging at the nanoscale. Novel methods for the DNA-handling with an atomic force microscope (AFM) at dry conditions, which can also be used in the vacuum chamber of a SEM will be presented as well as wood fibers/fibrils manipulation methods in the SEM.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126582044","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

Emergent imitative behavior on a robotic arm based on visuo-motor associative memories 基于视觉-运动联想记忆的机械臂紧急模仿行为

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5651090

A. D. Rengervé, S. Boucenna, P. Andry, P. Gaussier

引用次数: 23

Using a string to map the world 用字符串来映射世界

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5650321

Hui Wang, M. Jenkin, Patrick W. Dymond

引用次数: 6

Wide-area haptic guidance: Taking the user by the hand 广域触觉引导:牵着用户的手

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5654382

A. Arias, U. Hanebeck

引用次数: 13

Sound source separation by using matched beamforming and time-frequency masking 用匹配波束形成和时频掩蔽分离声源

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5652512

Jounghoon Beh, Taekjin Lee, D. Han, Hanseok Ko

引用次数: 5

3D room modeling and doorway detection from indoor stereo imagery using feature guided piecewise depth diffusion 基于特征引导分段深度扩散的室内立体图像的三维房间建模和门口检测

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2010-12-03 DOI: 10.1109/IROS.2010.5651525

K. Varadarajan, M. Vincze

{"title":"3D room modeling and doorway detection from indoor stereo imagery using feature guided piecewise depth diffusion","authors":"K. Varadarajan, M. Vincze","doi":"10.1109/IROS.2010.5651525","DOIUrl":"https://doi.org/10.1109/IROS.2010.5651525","url":null,"abstract":"Traditional indoor 3D structural environment modeling algorithms employ schemes such as clustering of dense point clouds for parameterization and identification of the 3D surfaces. RANSAC based plane fitting is one common approach in this regard. Alternatively, extensions to feature based stereo have also been used, mainly focusing on 3D line descriptions, along with techniques such as half-plane detection, real-plane or facade reconstruction, plane sweeping etc. Noise in the range data, especially in low texture regions, accidental line/plane grouping under lack of cues for visibility tests, presence of depth edges or discontinuities that are not visible in the 2D image and difficulties in adaptively estimating metrics for clustering can hamper efficiency of practical systems. In order to counter these issues, we propose a novel framework fusing 2D local and global features such as edges, texture and regions, with geometry information obtained from range data for reliable 3D indoor scene representation. The strength of the approach is derived from the novel depth diffusion and segmentation algorithms resulting in superior surface characterization as opposed to traditional feature based stereo or RANSAC based plane fitting approaches. These algorithms have also been heavily optimized to enable real-time deployments on personal, domestic and rehabilitation robots.","PeriodicalId":420658,"journal":{"name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"143 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133323422","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