2019 International Conference on Robotics and Automation (ICRA)最新文献_第4页

RESLAM: A real-time robust edge-based SLAM system RESLAM:实时鲁棒的基于边缘的SLAM系统

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794462

Fabian Schenk, F. Fraundorfer

{"title":"RESLAM: A real-time robust edge-based SLAM system","authors":"Fabian Schenk, F. Fraundorfer","doi":"10.1109/ICRA.2019.8794462","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794462","url":null,"abstract":"Simultaneous Localization and Mapping is a key requirement for many practical applications in robotics. In this work, we present RESLAM, a novel edge-based SLAM system for RGBD sensors. Due to their sparse representation, larger convergence basin and stability under illumination changes, edges are a promising alternative to feature-based or other direct approaches. We build a complete SLAM pipeline with camera pose estimation, sliding window optimization, loop closure and relocalisation capabilities that utilizes edges throughout all steps. In our system, we additionally refine the initial depth from the sensor, the camera poses and the camera intrinsics in a sliding window to increase accuracy. Further, we introduce an edge-based verification for loop closures that can also be applied for relocalisation. We evaluate RESLAM on wide variety of benchmark datasets that include difficult scenes and camera motions and also present qualitative results. We show that this novel edge-based SLAM system performs comparable to state-of-the-art methods, while running in real-time on a CPU. RESLAM is available as open-source software1.1Code is available: https://github.com/fabianschenk/RESLAM","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"170 1","pages":"154-160"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74872731","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: 29

Multimodal Spatio-Temporal Information in End-to-End Networks for Automotive Steering Prediction 端到端网络中的多模态时空信息用于汽车转向预测

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794410

M. Abou-Hussein, Stefan H. Müller-Weinfurtner, J. Boedecker

引用次数: 5

Improved A-search guided tree construction for kinodynamic planning 改进的a搜索引导树构建动力学规划

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793705

Yebin Wang

引用次数: 9

SEG-VoxelNet for 3D Vehicle Detection from RGB and LiDAR Data SEG-VoxelNet用于RGB和LiDAR数据的3D车辆检测

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793492

Jian Dou, Jianru Xue, Jianwu Fang

引用次数: 36

WheeLeR: Wheel-Leg Reconfigurable Mechanism with Passive Gears for Mobile Robot Applications 惠勒:用于移动机器人应用的带被动齿轮的轮腿可重构机构

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793686

Chuanqi Zheng, Kiju Lee

{"title":"WheeLeR: Wheel-Leg Reconfigurable Mechanism with Passive Gears for Mobile Robot Applications","authors":"Chuanqi Zheng, Kiju Lee","doi":"10.1109/ICRA.2019.8793686","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793686","url":null,"abstract":"This paper presents a new passive wheel-leg transformation mechanism and its embodiment in a small mobile robot. The mechanism is based on a unique geared structure, allowing the wheel to transform between two modes, i.e., wheel or leg, potentially adapting to varying ground conditions. It consists of a central gear and legs with partial gears that rotate around the central gear to open or close the legs. When fully closed, the mechanism forms a seamless circular wheel; when opened, it operates in the leg mode. The central gear actuated by the driving motor generates opening and closing motions of the legs without using an additional actuator. The number of legs, their physical size, and the gear ratio between the central gear and the partial gears on the legs are adjustable. This design is mechanically simple, customizable, and easy to fabricate. For physical demonstration and experiments, a mobile robotic platform was built and its terrainability was tested using five different sets of the transformable wheels with varying sizes and gear ratios. For each design, the performance with successful wheel-leg transformation, obstacle climbing, and locomotion capabilities was tested in different ground conditions.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"23 1","pages":"9292-9298"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87880869","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: 28

Visual Coverage Control for Teams of Quadcopters via Control Barrier Functions 视觉覆盖控制四轴飞行器的团队通过控制屏障功能

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793477

Riku Funada, María Santos, J. Yamauchi, T. Hatanaka, M. Fujita, M. Egerstedt

引用次数: 16

Effort Estimation in Robot-aided Training with a Neural Network 基于神经网络的机器人辅助训练的努力估计

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794281

A. D. Oliveira, Kevin Warburton, J. Sulzer, A. Deshpande

{"title":"Effort Estimation in Robot-aided Training with a Neural Network","authors":"A. D. Oliveira, Kevin Warburton, J. Sulzer, A. Deshpande","doi":"10.1109/ICRA.2019.8794281","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794281","url":null,"abstract":"Robotic exoskeletons open up promising interventions during post-stroke rehabilitation by assisting individuals with sensorimotor impairments to complete therapy tasks. These devices have the ability to provide variable assistance tailored to individual-specific needs and, additionally, can measure several parameters associated with the movement execution. Metrics representative of movement quality are important to guide individualized treatment. While robots can provide data with high resolution, robustness, and consistency, the delineation of the human contribution in the presence of the kinematic guidance introduced by the robotic assistance is a significant challenge. In this paper, we propose a method for assessing voluntary effort from an individual fitted in an upper-body exoskeleton called Harmony. The method separates the active torques generated by the wearer from the effects caused by unmodeled dynamics and passive neuromuscular properties and involuntary forces. Preliminary results show that the effort estimated using the proposed method is consistent with the effort associated with muscle activity and is also sensitive to different levels, indicating that it can reliably evaluate user’s contribution to movement. This method has the potential to serve as a high resolution assessment tool to monitor progress of movement quality throughout the treatment and evaluate motor recovery.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"175 1","pages":"563-569"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85838198","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

Inkjet Printable Actuators and Sensors for Soft-bodied Crawling Robots 用于软体爬行机器人的喷墨打印致动器和传感器

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793827

Tung D. Ta, T. Umedachi, Y. Kawahara

引用次数: 4

A Large-Deflection FBG Bending Sensor for SMA Bending Modules for Steerable Surgical Robots 用于可操纵手术机器人SMA弯曲模块的大挠度FBG弯曲传感器

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794302

Jun Sheng, N. Deaton, J. Desai

{"title":"A Large-Deflection FBG Bending Sensor for SMA Bending Modules for Steerable Surgical Robots","authors":"Jun Sheng, N. Deaton, J. Desai","doi":"10.1109/ICRA.2019.8794302","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794302","url":null,"abstract":"This paper presents the development of a fiber Bragg grating (FBG) bending sensor for shape memory alloy (SMA) bending modules. Due to the small form factor, low cost, and large-deflection capability, SMA bending modules can be used to construct disposable surgical robots for a variety of minimally invasive procedures. To realize a closed-loop control of SMA bending modules, an intrinsic bending sensor is imperative. Due to the lack of bending sensors for SMA bending modules, we have developed an FBG bending sensor by integrating FBG fibers with a superelastic substrate using flexible adhesive. Since the substrate is ultra-thin and adhesive is flexible, the sensor has low stiffness and can measure large curvatures. Additionally, due to the orthogonal arrangement of the sensor/actuator assembly, the influence of temperature variation caused by SMA actuation can be compensated. The working principle of the developed sensor was modeled followed by simulations. After experimentally evaluating the developed model, the sensor was integrated with an SMA bending module and cyclically bi-directionally deflected. The experimental results proved the relatively high measurement accuracy, high repeatability, and large measurable curvatures of the sensor, although hysteresis was observed due to friction.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"16 1","pages":"900-906"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88258441","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

Unsupervised Out-of-context Action Understanding 无监督的脱离情境的行动理解

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793709

Hirokatsu Kataoka, Y. Satoh

引用次数: 1