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2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)最新文献

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Visual servoing with fiducial landmarks for differential drive mobile robot 差分驱动移动机器人的基准地标视觉伺服
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215268
Ramon O. Fernandes, M. Fonseca, A. Conceicao
{"title":"Visual servoing with fiducial landmarks for differential drive mobile robot","authors":"Ramon O. Fernandes, M. Fonseca, A. Conceicao","doi":"10.1109/SBR-LARS-R.2017.8215268","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215268","url":null,"abstract":"This paper aims to present a visual servoing control strategy that uses visual information, acquired by a fiducial system, to solve the regulation to an arbitrary pose problem in differential driven mobile robots. In addition, in order to make this system more robust and immune to occlusion, we will use an Extended Kalman Filter to fuse odometric data and the data acquired from several landmarks. To demonstrate the performance of the approach, we present some experimental results.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125978189","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 improved model based on cellular automata for on-line navigation 基于元胞自动机的在线导航改进模型
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215305
Gabriel D. L. Chaves, L. G. A. Martins, G. M. B. Oliveira
{"title":"An improved model based on cellular automata for on-line navigation","authors":"Gabriel D. L. Chaves, L. G. A. Martins, G. M. B. Oliveira","doi":"10.1109/SBR-LARS-R.2017.8215305","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215305","url":null,"abstract":"Path planning and on-line navigation are some of the most-studied tasks in autonomous robotics. Since cellular automata (CA) are totally discrete models, they have also been recently considered for path planning. In order that the task be performed in a more decentralized manner, a local decision making approach is used in the CA-based models, where the next move is decided based on robot's sensors reading at each time step. Here, a simplified version of a previous navigation model to deal with single robot scenarios was adopted. This model is based on two sets of CA rules: those used to deviate from an obstacle identified within the robot's neighborhood; and those used to keep the robot navigating on a desirable axis whenever possible. However, by simulating this model some problems were noted in the robot's behavior. Two new strategies were implemented in the local decision making approach aimed at solving such problems. The continuous detection strategy is used to avoid collisions when the robot deviates from an obstacle, while a trajectory correction strategy aims to reduce the odometry errors arising from the robot's navigation. The refined model was simulated using the Webots platform and the results show an improvement in the robot performance, achieving a collision-free trajectory and a reduction from 55% in the errors with respect to its navigation axis.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125194962","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: 5
Complex network shape descriptor for 3D objects classification 用于三维物体分类的复杂网络形状描述符
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215280
Carlos Andre Braile Przewodowski Filho, F. Osório
{"title":"Complex network shape descriptor for 3D objects classification","authors":"Carlos Andre Braile Przewodowski Filho, F. Osório","doi":"10.1109/SBR-LARS-R.2017.8215280","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215280","url":null,"abstract":"The 3D object recognition is an important research field in robotics. The real world object classification, retrieval, localization and tracking from images (2D or 3D data) are very useful application of computer vision in many areas, for instance, robotics, industry, education, augmented reality and medicine. Locate and recognize 3D objects in the environment can serve to create robust landmarks for robot pose estimation and localization, and can also be very important in telepresence, teleoperation, and grasping tasks. On the other hand, complex networks applications are a growing research field, and their application on computer vision is still a very recent research topic. This work uses complex networks to create shape descriptors for 3D point clouds of objects, and then uses a machine learning algorithm (k-NN) for object classification. Experiments of object classification, considering only the 3D shape, were done using the well known UW-University of Washington RGB-D objects dataset. The results are comparable to the best results of recent methods on the same dataset.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130896020","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
Modeling of an object in free fall and collision with linear and nonlinear environments 在线性和非线性环境下自由落体和碰撞物体的建模
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215325
Leonam S. D. Pecly, L. O. Marchi, V. Carrara
{"title":"Modeling of an object in free fall and collision with linear and nonlinear environments","authors":"Leonam S. D. Pecly, L. O. Marchi, V. Carrara","doi":"10.1109/SBR-LARS-R.2017.8215325","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215325","url":null,"abstract":"Due to the complexity of the mathematical and computational reproduction of collision movements performed by solids objects in the real world, alternately a common approach is to use dynamic models compound of elastic (spring) and dissipative (damper) forces with the theory of rigid bodies. In this paper, the modeling of translational and rotational movement of a solid cube in free fall colliding with linear and nonlinear environments considering very small penetrations is presented and evaluated. The environment modeling considers force in the vertical and horizontal directions, where for vertical the linear Kelvin-Voigt (KV) and the nonlinear Hunt-Crossley (HC) are considered. The attitude propagation is based on quaternions and numerical integration of all motion equations (6DOF) are performed using the integrator Runge-Kutta 7 (RK7). The results and analyses are made based on the energy, the object trajectory and the energy hysteresis diagram for both environment models used.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134254646","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
3D shape descriptor for objects recognition 用于物体识别的三维形状描述符
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215285
D. Sales, J. Amaro, F. Osório
{"title":"3D shape descriptor for objects recognition","authors":"D. Sales, J. Amaro, F. Osório","doi":"10.1109/SBR-LARS-R.2017.8215285","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215285","url":null,"abstract":"3D point cloud classification is an important task in applications for many areas such as robotics, urban planning and augmented reality. 3D sensors measure a high amount of points in the 3D scene objects' surface at a high collect rate, so robust techniques are needed to process all input data and also deal with some imprecision. A common solution for these tasks is the use of robust features extraction techniques to gather representative scene information at the lowest computational cost possible. This paper presents a new approach for object recognition in 3D scenes, using a novel 3D shape descriptor which is used as input for a supervised machine learning method. Proposed robust 3D feature is invariant to translation and scale and provides a very simplified object representation for pattern recognition input. Experiments were performed using an Artificial Neural Network to recognize six different object shapes, and obtained results showed that the proposed method is a promising approach for object recognition in 3D scenes.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131301909","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: 4
Experimental evaluation of ROS compatible SLAM algorithms for RGB-D sensors RGB-D传感器ROS兼容SLAM算法的实验评价
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215331
Bruno M. F. Silva, R. S. Xavier, T. Nascimento, L. Gonçalves
{"title":"Experimental evaluation of ROS compatible SLAM algorithms for RGB-D sensors","authors":"Bruno M. F. Silva, R. S. Xavier, T. Nascimento, L. Gonçalves","doi":"10.1109/SBR-LARS-R.2017.8215331","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215331","url":null,"abstract":"The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM), for which a number of algorithms from different classes are available as ROS packages ready to be used on any compatible robot. Considering that there is often a need to evaluate and choose an appropriate solution in any robotics application, this work presents an experimental evaluation of five SLAM algorithms usable on RGB-D sensors, namely, Gmapping, Hector SLAM, ORB SLAM, ORB SLAM 2 and RTAB-Map. The algorithms are assessed on data depicting realistic operation scenarios according to established criteria enumerated to emphasize practical aspects of the selected systems. The experiences reported on this work should provide insight for roboticists seeking a SLAM solution for indoor applications.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122629472","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: 18
Rotational odometry calibration for differential robot platforms 差分机器人平台的旋转里程计标定
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215315
Darci Luiz Tomasi, E. Todt
{"title":"Rotational odometry calibration for differential robot platforms","authors":"Darci Luiz Tomasi, E. Todt","doi":"10.1109/SBR-LARS-R.2017.8215315","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215315","url":null,"abstract":"In order to navigate a robotic base in an unfamiliar environment, some mechanisms to detect positioning and location must be provided. When the base is in the process of navigation and makes use of these mechanisms, errors originating from the environment and base are inserted into the system, resulting in an erroneous position estimation. One relevant approach to reduce the error amplitude is to attack the error at its grounds, through an efficient calibration model, capable of identifying and estimating values for the main sources of uncertainty in odometry calculations. This work presents a novel calibration method, which differs from the classical ones by the way the calibration is performed, based on rotational movement instead of the usual linear displacement, reducing the area covered by the robotic base during the calibration process. The calibration results obtained are equivalent to those from the main classical methods.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131830781","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: 8
HeRo: An open platform for robotics research and education HeRo:一个开放的机器人研究和教育平台
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215317
Paulo A. F. Rezeck, Héctor Azpúrua, L. Chaimowicz
{"title":"HeRo: An open platform for robotics research and education","authors":"Paulo A. F. Rezeck, Héctor Azpúrua, L. Chaimowicz","doi":"10.1109/SBR-LARS-R.2017.8215317","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215317","url":null,"abstract":"In this paper, we present a novel platform for swarm robotics that is low cost, easy to assemble using off the shelf components and is deeply integrated with the most used robotic framework available today: ROS (Robot Operating System). The robotic platform is completely open, composed by a 3D printed body and open source software. We describe its architecture, present its main features and evaluate its functionalities executing real experiments using a couple of robots. We concluded that the proposed swarm platform is a feasible and usable system for education and research, given its reduced cost, easy of use and small size.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"663 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130575778","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
Coordinate multi-robotic system for image taking and visualization via photogrammetry 坐标多机器人系统的图像采集和可视化通过摄影测量
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215328
A. R. D. Souza, Rita Raad, M. R. Batista, R. Romero
{"title":"Coordinate multi-robotic system for image taking and visualization via photogrammetry","authors":"A. R. D. Souza, Rita Raad, M. R. Batista, R. Romero","doi":"10.1109/SBR-LARS-R.2017.8215328","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215328","url":null,"abstract":"The growth of 3D visualization devices, such as holograms and virtual reality, is followed by the increase of demand for 3D models. One cheap and straightforward way of creating them is by photogrammetry. However, taking the necessary photographs is tedious and imprecise, because many different shooting angles and heights are required. Also, there may be need of doing models of objects placed on hazardous environments. In this paper, our objective is to create a multirobot system capable of taking multiple bi-dimensional images of an object for further generation of a 3D representation of this object. This approach has the benefit of scalability, increasing security and reliability.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"PP 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126412764","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 monte-carlo localization for humanoid soccer robots 基于视觉的仿人足球机器人蒙特卡罗定位
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215310
Aislan C. Almeida, Anna Helena Reali Costa, Reinaldo A. C. Bianchi
{"title":"Vision-based monte-carlo localization for humanoid soccer robots","authors":"Aislan C. Almeida, Anna Helena Reali Costa, Reinaldo A. C. Bianchi","doi":"10.1109/SBR-LARS-R.2017.8215310","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215310","url":null,"abstract":"In order to solve the self-localization problem, the Monte-Carlo Localization is proposed as a technique which is able to solve any localization problem. However, the implemented algorithm needs to be adapted to the robot and domain. Thus, this work presents a novel implementation for humanoid robots whose main sensory input is a camera, to be used in the domain of RoboCup Humanoid Soccer League. The paper proposes motion and observation models designed for the domain, and a method to determine the quantity of particles needed to represent the probability distribution. Finally, the proposals are validated by simulated experiments.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115026093","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
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