2012 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第2页

Thermal 3D modeling of indoor environments for saving energy 节能室内环境的热三维建模

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386265

D. Borrmann, Hassan Afzal, J. Elseberg, A. Nüchter

引用次数: 3

Hover kinematics and distributed pressure sensing for force control of biorobotic fins 悬停运动学与分布式压力传感在仿生鳍力控制中的应用

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386066

Jeff C. Kahn, B. Flammang, J. Tangorra

{"title":"Hover kinematics and distributed pressure sensing for force control of biorobotic fins","authors":"Jeff C. Kahn, B. Flammang, J. Tangorra","doi":"10.1109/IROS.2012.6386066","DOIUrl":"https://doi.org/10.1109/IROS.2012.6386066","url":null,"abstract":"A comprehensive understanding of the ways in which fish create and control forces is fundamental to engineering underwater vehicles that maneuver with the agility of fish. In this study the sunfish was selected as a biological model from which to understand pectoral fin motions and forces during hover. The kinematic patterns of the biological fin were identified and implemented on a biorobotic model of the fin. The effects of fin patterns and mechanical properties on force were evaluated. Pressure was measured at multiple points on the fin's surface and assessed for use in the closed loop control of fin force. The study revealed that a wide range of motions are used during hover, and that forces are significantly different from those found previously for steady swimming. However as fin speeds increase, the fin's dynamic motions, and the magnitude and direction of the forces become more similar to those of steady swimming. Collective measures of pressure over the fin's surface exhibited trends that correlated well with fin forces in relative magnitudes and directions. Results strongly suggest that distributed measures of pressure are useful for force prediction and control.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80261322","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

A benchmark for the evaluation of RGB-D SLAM systems 评估RGB-D SLAM系统的基准

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385773

Jürgen Sturm, Nikolas Engelhard, F. Endres, Wolfram Burgard, D. Cremers

{"title":"A benchmark for the evaluation of RGB-D SLAM systems","authors":"Jürgen Sturm, Nikolas Engelhard, F. Endres, Wolfram Burgard, D. Cremers","doi":"10.1109/IROS.2012.6385773","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385773","url":null,"abstract":"In this paper, we present a novel benchmark for the evaluation of RGB-D SLAM systems. We recorded a large set of image sequences from a Microsoft Kinect with highly accurate and time-synchronized ground truth camera poses from a motion capture system. The sequences contain both the color and depth images in full sensor resolution (640 × 480) at video frame rate (30 Hz). The ground-truth trajectory was obtained from a motion-capture system with eight high-speed tracking cameras (100 Hz). The dataset consists of 39 sequences that were recorded in an office environment and an industrial hall. The dataset covers a large variety of scenes and camera motions. We provide sequences for debugging with slow motions as well as longer trajectories with and without loop closures. Most sequences were recorded from a handheld Kinect with unconstrained 6-DOF motions but we also provide sequences from a Kinect mounted on a Pioneer 3 robot that was manually navigated through a cluttered indoor environment. To stimulate the comparison of different approaches, we provide automatic evaluation tools both for the evaluation of drift of visual odometry systems and the global pose error of SLAM systems. The benchmark website [1] contains all data, detailed descriptions of the scenes, specifications of the data formats, sample code, and evaluation tools.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80523669","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: 2877

Non-central catadioptric cameras visual servoing for mobile robots using a radial camera model 基于径向相机模型的移动机器人非中心反射相机视觉伺服

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385668

Omar Tahri, Helder Sabino de Araújo

{"title":"Non-central catadioptric cameras visual servoing for mobile robots using a radial camera model","authors":"Omar Tahri, Helder Sabino de Araújo","doi":"10.1109/IROS.2012.6385668","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385668","url":null,"abstract":"Catadioptric cameras combine conventional cameras and mirrors to create omnidirectional sensors providing 360° panoramic views of a scene. Modeling such cameras has been subject of significant research interest in the computer vision community leading to a deeper understanding of the image properties and also to different models for different types of configurations. Visual servoing applications using catadioptric cameras have essentially been using central cameras and the corresponding unified projection model. So far only in very few cases more general models have been used. In this paper we address the problem of visual servoing using the so-called the radial model. The radial model can be applied to many camera configurations and in particular to non-central catadioptric systems with mirror shapes that are symmetric around the optical axis. In this case we show that the radial model can be used with a non-central catadioptric camera to allow effective image-based visual servoing (IBVS) of a mobile robot. Using this model, which is valid for a large set of catadioptric cameras, new visual features are proposed to control the degrees of freedom of a mobile robot moving on a plane. Several simulation results are provided to validate the effectiveness of such features.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79145133","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

A hybrid particle/grid wind model for realtime small UAV flight simulation 一种用于小型无人机实时飞行仿真的混合粒子/网格风模型

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386204

A. Harmat, I. Sharf, M. Trentini

引用次数: 1

Robust acoustic source localization of emergency signals from Micro Air Vehicles 微型飞行器应急信号的鲁棒声源定位

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385608

M. Basiri, F. Schill, P. Lima, D. Floreano

{"title":"Robust acoustic source localization of emergency signals from Micro Air Vehicles","authors":"M. Basiri, F. Schill, P. Lima, D. Floreano","doi":"10.1109/IROS.2012.6385608","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385608","url":null,"abstract":"In search and rescue missions, Micro Air Vehicles (MAV's) can assist rescuers to faster locate victims inside a large search area and to coordinate their efforts. Acoustic signals play an important role in outdoor rescue operations. Emergency whistles, as found on most aircraft life vests, are commonly carried by people engaging in outdoor activities, and are also used by rescue teams, as they allow to signal reliably over long distances and far beyond visibility. For a MAV involved in such missions, the ability to locate the source of a distress sound signal, such as an emergency whistle blown by a person in need of help, is therefore significantly important and would allow the localization of victims and rescuers during night time, through foliage and in adverse conditions such as dust, fog and smoke. In this paper we present a sound source localization system for a MAV to locate narrowband sound sources on the ground, such as the sound of a whistle or personal alarm siren. We propose a method based on a particle filter to combine information from the cross correlation between signals of four spatially separated microphones mounted on the MAV, the dynamics of the aerial platform, and the doppler shift in frequency of the sound due to the motion of the MAV. Furthermore, we evaluate our proposed method in a real world experiment where a flying micro air vehicle is used to locate and track the position of a narrowband sound source on the ground.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84222391","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: 70

Improved grasp robustness through variable transmission ratios in underactuated fingers 通过可变传动比在欠驱动手指改善抓稳性

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385884

Stefan A. J. Spanjer, Ravi Balasubramanian, J. Herder, A. Dollar

引用次数: 8

Iterative learning of feed-forward corrections for high-performance tracking 高性能跟踪前馈修正的迭代学习

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385647

Fabian L. Mueller, Angela P. Schoellig, R. D’Andrea

引用次数: 50

Two-level RRT planning for robotic push manipulation 机器人推操作的两级RRT规划

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385828

Claudio Zito, R. Stolkin, Marek Kopicki, J. Wyatt

{"title":"Two-level RRT planning for robotic push manipulation","authors":"Claudio Zito, R. Stolkin, Marek Kopicki, J. Wyatt","doi":"10.1109/IROS.2012.6385828","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385828","url":null,"abstract":"This paper presents an algorithm for planning sequences of pushes, by which a robotic arm equipped with a single rigid finger can move a manipulated object (or manipulandum) towards a desired goal pose. Pushing is perhaps the most basic kind of manipulation, however it presents difficult challenges for planning, because of the complex relationship between manipulative pushing actions and resulting manipulandum motions. The motion planning literature has well developed paradigms for solving e.g. the piano-mover's problem, where the search occurs directly in the configuration space of the manipulandum object being moved. In contrast, in pushing manipulation, a plan must be built in the action space of the robot, which is only indirectly linked to the motion space of the manipulandum through a complex interaction for which inverse models may not be known. In this paper, we present a two stage approach to planning pushing operations. A global RRT path planner is used to explore the space of possible manipulandum configurations, while a local push planner makes use of predictive models of pushing interactions, to plan sequences of pushes to move the manipulandum from one RRT node to the next. The effectiveness of the algorithm is demonstrated in simulation experiments in which a robot must move a rigid body through complex 3D transformations by applying only a sequence of simple single finger pushes.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85028270","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: 62

Human-humanoid haptic joint object transportation case study 人-人形触觉关节物体运输案例研究

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385921

Antoine Bussy, A. Kheddar, A. Crosnier, François Keith

引用次数: 55