2019 19th International Conference on Advanced Robotics (ICAR)最新文献_第8页

Pre-diagnosis of pelvic floor disorders-based image registration and clustering 基于图像配准和聚类的盆底疾病预诊断

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981575

Cicero L. Costa, Túlia A. A. Macedo, C. Barcelos

引用次数: 0

Model-based Dynamic Pose Graph SLAM in Unstructured Dynamic Environments 非结构化动态环境中基于模型的动态姿态图SLAM

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981632

Amy Deeb, M. Seto, Yajun Pan

{"title":"Model-based Dynamic Pose Graph SLAM in Unstructured Dynamic Environments","authors":"Amy Deeb, M. Seto, Yajun Pan","doi":"10.1109/ICAR46387.2019.8981632","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981632","url":null,"abstract":"Navigation in dynamic environments is a challenge for autonomous vehicles operating without prior maps or global position references. This poses high risk to vehicles that perform scientific studies and monitoring missions in marine Arctic environments characterized by slowly moving sea ice with few truly static landmarks. Whereas mature simultaneous localization and mapping (SLAM) approaches assume a static environment, this work extends pose graph SLAM to spatiotemporally evolving environments. A novel model-based dynamic factor is proposed to capture a landmark's state transition model - whether the state be kinematic, appearance or otherwise. The structure of the state transition model is assumed to be known a priori, while the parameters are estimated on-line. Expectation maximization is used to avoid adding variables to the graph. Proof-of-concept results are shown in small- and medium-scale simulation, and small-scale laboratory environments for a small quadrotor. Preliminary laboratory validation results shows the effect of mechanical limitations of the quadrotor platform and increased uncertainties associated with the model-based dynamic factors on the SLAM estimate. Simulation results are encouraging for the application of model-based dynamic factors to dynamic landmarks with a constant-velocity kinematic model.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"78 1","pages":"123-128"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84967194","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

EspeleoRobô - a robotic device to inspect confined environments EspeleoRobô -检查密闭环境的机器人设备

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981627

Héctor Azpúrua, Filipe A. S. Rocha, G. Garcia, Alexandre Souza Santos, Eduardo Cota, Luiz Guilherme Barros, Alexandre S Thiago, G. Pessin, G. Freitas

引用次数: 15

Map Point Optimization in Keyframe-Based SLAM using Covisibility Graph and Information Fusion 基于关键帧SLAM的图点优化与信息融合

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981653

Edison Kleiber Titito Concha, Diego Pittol, Ricardo Westhauser, M. Kolberg, R. Maffei, Edson Prestes e Silva

{"title":"Map Point Optimization in Keyframe-Based SLAM using Covisibility Graph and Information Fusion","authors":"Edison Kleiber Titito Concha, Diego Pittol, Ricardo Westhauser, M. Kolberg, R. Maffei, Edson Prestes e Silva","doi":"10.1109/ICAR46387.2019.8981653","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981653","url":null,"abstract":"Keyframe-based monocular SLAM (Simultaneous Localization and Mapping) is one of the main visual SLAM approaches, used to estimate the camera motion together with the map reconstruction over selected frames. These techniques represent the environment by map points located in the three-dimensional space, that can be recognized and located in the frame. However, these techniques usually cannot decide when a map point is an outlier or obsolete information and can be discarded. Another problem is to decide when combining map points corresponding to the same three-dimensional point. In this paper, we present a robust method to maintain a refined map. This approach uses the covisibility graph and an algorithm based on information fusion to build a probabilistic map, that explicitly models outlier measurements. In addition, we incorporate a pruning mechanism to reduce redundant information and remove outliers. In this way, our approach manages to reduce the map size maintaining essential information of the environment. Finally, in order to evaluate the performance of our method, we incorporate it into an ORB-SLAM system and measure the accuracy achieved on publicly available benchmark datasets which contain indoor images sequences recorded with a hand-held monocular camera.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"24 1","pages":"129-134"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88606538","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

Fast Convolutional Neural Network for Real-Time Robotic Grasp Detection 基于快速卷积神经网络的机器人实时抓取检测

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981651

E. G. Ribeiro, V. Grassi

引用次数: 6

Mathematical modeling and control of a quadrotor aerial vehicle with tiltrotors aimed for interaction tasks 具有倾转旋翼的四旋翼飞行器的数学建模与控制

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981636

J. C. Vendrichoski, T. L. Costa, E. S. Elyoussef, E. D. Pieri

{"title":"Mathematical modeling and control of a quadrotor aerial vehicle with tiltrotors aimed for interaction tasks","authors":"J. C. Vendrichoski, T. L. Costa, E. S. Elyoussef, E. D. Pieri","doi":"10.1109/ICAR46387.2019.8981636","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981636","url":null,"abstract":"With a wide spectrum of applications ranging from entertainment to military use, quadrotors, in their conventional construction with four fixed rotors, have proven to be sufficiently capable of robustly performing numerous tasks. However, the capability to generate thrust just in one direction, i.e., normal to its main plane, is very restrictive and drastically reduces the maneuverability and agility of the vehicle. In this paper, an alternative model of the quadrotor is presented. Constructively, the difference lies in the addition of a mechanism that tilts the rotors in the longitudinal direction, which in practice adds maneuverability by enabling the longitudinal translation uncoupled from the pitching movement. In addition to this new thrust component in the longitudinal direction, this configuration also yields a significant increase in the yaw torque. These are highly desired features in a UAV used to execute tasks that require physical interaction with the surrounding environment. The mathematical model of the entire system is obtained by employing the Euler-Lagrange formalism and a multi-body approach. In addition, a basic control scheme is used to verify, through simulation, the obtained model.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"38 1","pages":"161-166"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79388832","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: 3

Adaptable Platform for Interactive Swarm Robotics (APIS): A Human-Swarm Interaction Research Testbed 交互式群机器人的适应性平台:一个人-群交互研究试验台

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981628

N. Dhanaraj, Julietta Maffeo, G. Pereira, Jason N. Gross, Yu Gu, Nathan Hewitt, Casey Edmonds-Estes, Rachel Jarman, Jeongwoo Seo, Henry Gunner, Alexandra Hatfield, Tucker Johnson, Lunet Yifru

{"title":"Adaptable Platform for Interactive Swarm Robotics (APIS): A Human-Swarm Interaction Research Testbed","authors":"N. Dhanaraj, Julietta Maffeo, G. Pereira, Jason N. Gross, Yu Gu, Nathan Hewitt, Casey Edmonds-Estes, Rachel Jarman, Jeongwoo Seo, Henry Gunner, Alexandra Hatfield, Tucker Johnson, Lunet Yifru","doi":"10.1109/ICAR46387.2019.8981628","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981628","url":null,"abstract":"This paper describes the Adaptable Platform for Interactive Swarm robotics (APIS) - a testbed designed to accelerate development in human-swarm interaction (HSI) research. Specifically, this paper presents the design of a swarm robot platform composed of fifty low cost robots coupled with a testing field and a software architecture that allows for modular and versatile development of swarm algorithms. The motivation behind developing this platform is that the emergence of a swarm's collective behavior can be difficult to predict and control. However, human-swarm interaction can measurably increase a swarm's performance as the human operator may have intuition or knowledge unavailable to the swarm. The development of APIS allows researchers to focus on HSI research, without being constrained to a fixed ruleset or interface. A short survey is presented that offers a taxonomy of swarm platforms and provides conclusions that contextualize the development of APIS. Next, the motivations, design and functionality of the APIS testbed are described. Finally, the operation and potential of the platform are demonstrated through two experimental evaluations.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"31 1","pages":"720-726"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75015681","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: 3

BooM-Vio: Bootstrapped Monocular Visual-Inertial Odometry with Absolute Trajectory Estimation through Unsupervised Deep Learning BooM-Vio:通过无监督深度学习的绝对轨迹估计的自引导单目视觉惯性里程计

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981570

Kyle Lindgren, Sarah Leung, W. Nothwang, E. J. Shamwell

{"title":"BooM-Vio: Bootstrapped Monocular Visual-Inertial Odometry with Absolute Trajectory Estimation through Unsupervised Deep Learning","authors":"Kyle Lindgren, Sarah Leung, W. Nothwang, E. J. Shamwell","doi":"10.1109/ICAR46387.2019.8981570","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981570","url":null,"abstract":"Machine learning has emerged as an extraordinary tool for solving many computer vision tasks by extracting and correlating meaningful features from high dimensional inputs in ways that often exceed the best human-derived modeling efforts. However, the area of vision-aided localization remains diverse with many traditional, model-based approaches (i.e. filtering- or nonlinear least- squares- based) often outperforming deep, model-free approaches. In this work, we present Bootstrapped Monocular VIO (BooM), a scaled monocular visual-inertial odometry (VIO) solution that leverages the complex data association ability of model-free approaches with the ability to exploit known geometric dynamics with model-based approaches. Our end-to-end, unsupervised deep neural network simultaneously learns to perform visual-inertial odometry and estimate scene depth while scale is enforced through a loss signal computed from position change magnitude estimates from traditional methods. We evaluate our network against a state-of-the-art (SoA) approach on the KITTI driving dataset as well as a micro aerial vehicle (MAV) dataset that we collected in the AirSim simulation environment. We further demonstrate the benefits of our combined approach through robustness tests on degraded trajectories.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"71 1","pages":"516-522"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89708563","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

Task-oriented Function Detection Based on Operational Tasks 基于操作任务的面向任务的功能检测

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981633

Yuchi Ishikawa, Haruya Ishikawa, S. Akizuki, Masaki Yamazaki, Y. Taniguchi, Y. Aoki

引用次数: 0

Evaluating the Potential Benefit of Autostereoscopy in Laparoscopic Sacrocolpopexy through VR Simulation 通过VR模拟评估自体立体镜在腹腔镜骶骶固定术中的潜在益处

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981553

J. Smet, E. V. Poorten, V. Poliakov, Kenan Niu, Frédérique Chesterman, J. Fornier, M. Ahmad, M. Ourak, Viktor Vörös, J. Deprest

{"title":"Evaluating the Potential Benefit of Autostereoscopy in Laparoscopic Sacrocolpopexy through VR Simulation","authors":"J. Smet, E. V. Poorten, V. Poliakov, Kenan Niu, Frédérique Chesterman, J. Fornier, M. Ahmad, M. Ourak, Viktor Vörös, J. Deprest","doi":"10.1109/ICAR46387.2019.8981553","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981553","url":null,"abstract":"During laparoscopic sacrocolpopexy, pelvic organ prolapse is repaired by suturing one side of a synthetic mesh around the vaginal vault while stapling the other end to the sacrum, restoring the anatomical position of the vagina. A perineal assistant positions and tensions the vault with a vaginal manipulator instrument to properly expose the vaginal tissue to the laparoscopic surgeon. A technical difficulty during this surgery is the loss of depth perception due to visualization of the patient's internals on a 2D screen. Especially during precise surgical tasks, a more natural way to understand the distance between the laparoscopic instruments and the surgical region of interest could be advantageous. This work describes an exploratory study to investigate the potential of introducing 3D visualization into this surgical intervention. More in particular, experimentation is conducted with autostereoscopic display technology. A mixed reality setup was constructed featuring a virtual reality model of the vagina, 2D and 3D visualization, a physical interface representing the tissue of the body wall and a tracking system to track instrument motion. An experiment was conducted whereby the participants had to navigate the instrument to a number of pre-defined locations under 2D or 3D visualization. Compared to 2D, a considerable reduction in average task time (-42.9 %), travelled path lenght (-31.8 %) and errors (-52.2 %) was observed when performing the experiment in 3D. Where this work demonstrated a potential benefit of autostereoscopic visualization with respect to 2D visualization, in future work we wish to investigate if there also exists a benefit when comparing this technology with conventional stereoscopic visualization and whether stereoscopy can be used for (semi-) automated guidance during robotic laparoscopy.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"26 1","pages":"566-571"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91029830","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: 3