2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献_第8页

Leveraging Convolutional Pose Machines for Fast and Accurate Head Pose Estimation 利用卷积姿态机进行快速准确的头部姿态估计

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8594223

Yuanzhouhan Cao, O. Canévet, J. Odobez

引用次数: 7

IROS 2018 Technical Program IROS 2018年技术计划

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/iros.2018.8593782

引用次数: 0

Towards Autonomous Stratospheric Flight: A Generic Global System Identification Framework for Fixed-Wing Platforms 面向平流层自主飞行:固定翼平台通用全球系统识别框架

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8594126

Jongseo Lee, T. Muskardin, Cristina Ruiz Pacz, P. Oettershagen, Thomas Stastny, Inkyu Sa, R. Siegwart, K. Kondak

{"title":"Towards Autonomous Stratospheric Flight: A Generic Global System Identification Framework for Fixed-Wing Platforms","authors":"Jongseo Lee, T. Muskardin, Cristina Ruiz Pacz, P. Oettershagen, Thomas Stastny, Inkyu Sa, R. Siegwart, K. Kondak","doi":"10.1109/IROS.2018.8594126","DOIUrl":"https://doi.org/10.1109/IROS.2018.8594126","url":null,"abstract":"System identification of High Altitude Long Endurance fixed-wing aerial vehicles is challenging as its operating flight envelope covers wide ranges of altitudes and Mach numbers. We present a new global system identification framework geared towards such fixed-wing aerial platforms where the aim is to build a global aerodynamic model without many repetitions of local system identification procedures or the use of any aerodynamic database. Instead we apply parameter identification techniques to virtually created system identification data and update the identified parameters with available flight test data. The proposed framework was evaluated using data set outside the flight envelope of the available flight test data, i.e. at different airspeeds considering both interpolation and extrapolation scenarios. The error analysis has shown that the obtained longitudinal aerodynamic model can accurately predict the pitch rate and pitch angle, mostly within a tolerance of $pm pmb{1.5}$ degrees/s and $pm pmb{2}$ degrees respectively. Such a cost and time efficient model development framework enables high fidelity simulation and precise control which ultimately leads to higher success rates in autonomous missions.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"339 1","pages":"6233-6240"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80730099","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

A New Characterization of Mobility for Distance-Bearing Formations of Unicycle Robots 独轮车机器人距离编队机动性的一种新表征

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593984

F. Morbidi, Estelle Bretagne

引用次数: 3

Proactive Robot Assistants for Freeform Collaborative Tasks Through Multimodal Recognition of Generic Subtasks 基于通用子任务多模态识别的自由形式协作任务的主动机器人助手

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8594180

Connor Brooks, Madhur Atreya, D. Szafir

{"title":"Proactive Robot Assistants for Freeform Collaborative Tasks Through Multimodal Recognition of Generic Subtasks","authors":"Connor Brooks, Madhur Atreya, D. Szafir","doi":"10.1109/IROS.2018.8594180","DOIUrl":"https://doi.org/10.1109/IROS.2018.8594180","url":null,"abstract":"Successful human-robot collaboration depends on a shared understanding of task state and current goals. In nonlinear or freeform tasks without an explicit task model, robot partners are unable to provide assistance without the ability to translate perception into meaningful task knowledge. In this paper, we explore the utility of multimodal recurrent neural networks (RNNs) with long short-term memory (LSTM) units for real-time subtask recognition in order to provide context-aware assistance during generic assembly tasks. We train RNNs to recognize specific subtasks in individual modalities, then combine the high-level representations of these networks through a nonlinear connection layer to create a multimodal subtask recognition system. We report results from implementing the system on a robot that uses the subtask recognition system to provide predictive assistance to a human partner during a laboratory experiment involving a human-robot team completing an assembly task. Generalizability of the system is evaluated through training and testing on separate tasks with some similar subtasks. Our results demonstrate the value of such a system in providing assistance to human partners during a freeform assembly scenario and increasing humans' perception of the robot's agency and usefulness.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"1 1","pages":"8567-8573"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79113286","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

Summarizing Large Scale 3D Mesh 总结大规模三维网格

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593372

Imeen Ben Salah, Sébastien Kramm, C. Demonceaux, P. Vasseur

引用次数: 2

A Novel Cable Actuation Mechanism for 2-DOF Hyper-redundant Bending Robot Composed of Pulleyless Rolling Joints 一种由无滑轮滚动关节组成的2自由度超冗余弯曲机器人的新型缆索驱动机构

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593890

Jungwook Suh

引用次数: 5

Optimizing Scan Homogeneity for Building Full-3D Lidars Based on Rotating a Multi-Beam Velodyne Range-Finder 基于旋转多波束Velodyne测距仪的全三维激光雷达扫描均匀性优化

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593916

A. Mandow, J. Morales, J. A. Gómez-Ruiz, A. García-Cerezo

引用次数: 2

Autonomous Localization, Navigation and Haustral Fold Detection for Robotic Endoscopy 机器人内窥镜的自主定位、导航和采样折叠检测

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8594106

J. M. Prendergast, Gregory A. Formosa, C. Heckman, M. Rentschler

{"title":"Autonomous Localization, Navigation and Haustral Fold Detection for Robotic Endoscopy","authors":"J. M. Prendergast, Gregory A. Formosa, C. Heckman, M. Rentschler","doi":"10.1109/IROS.2018.8594106","DOIUrl":"https://doi.org/10.1109/IROS.2018.8594106","url":null,"abstract":"Capsule endoscopes have gained popularity over the last decade as minimally invasive devices for diagnosing gastrointestinal abnormalities such as colorectal cancer. While this technology offers a less invasive and more convenient alternative to traditional scopes, these capsules are only able to provide observational capabilities due to their passive nature. With the addition of a reliable mobility system and a real-time navigation system, capsule endoscopes could transform from observational devices into active surgical tools, offering biopsy and therapeutic capabilities and even autonomous navigation in a single minimally invasive device. In this work, a vision system is developed to allow for autonomous lumen center tracking and haustral fold identification and tracking during colonoscopy. This system is tested for its ability to accurately identify and track multiple haustral folds across many frames in both simulated and in vivo video, and the lumen center tracking is tested onboard a robotic endoscope platform (REP) within an active simulator to demonstrate autonomous navigation. In addition, real-time localization is demonstrated using open source ORB-SLAM2. The vision system successfully identified 95.6% of Haustral folds in simulator frames and 70.6% in in vivo frames and false positives occurred in less than 1% of frames. The center tracking algorithm showed in vivo center estimates within a mean error of 6.6% of physician estimates and allowed for the REP to traverse 2 m of the active simulator in 6 minutes without intervention.","PeriodicalId":6640,"journal":{"name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"99 1","pages":"783-790"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81178008","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: 12

CINet: A Learning Based Approach to Incremental Context Modeling in Robots 基于学习的机器人增量上下文建模方法

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI: 10.1109/IROS.2018.8593633

Fethiye Irmak Dogan, Ilker Bozcan, Sinan Kalkan

引用次数: 7