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Robotic ground vehicles are commonly used in various road conditions for performing special tasks with different levels of autonomy. This requires the robots to possess a certain degree of perception about the road conditions up ahead and make plans accordingly. It is essential for the robots to be able to quickly adapt their perception for various road conditions they operate. In this paper, an adaptive...
Many ships today rely on Global Navigation Satellite Systems (GNSS), for their navigation, where GPS (Global Positioning System) is the most well-known. Unfortunately, the GNSS systems make the ships dependent on external systems, which can be malfunctioning, be jammed or be spoofed. There are today some proposed techniques where, e.g., bottom depth measurements are compared with known maps using...
For manifolds with topologies that strongly differ from the standard topology of Rn, using common filters created for linear domains can yield misleading results. While there is a lot of ongoing research on estimation on the unit circle, higher-dimensional problems particularly pose a challenge. One important generalization of the unit circle is the unit hypersphere. In this paper, we propose a recursive...
The paper presents an approach for tracking a variable number of objects by using a multi-layer particle filter combined with an extended Expectation Maximization (EM) clustering. The approach works on basis of binary foreground images coming from previous background subtraction. The multi-layer particle filter is an improvement of a conventional particle filter approach. It uses an introduced adaptive...
Most of the available robot programming by demonstration (PbD) approaches focus on learning a single task, in a given environmental situation. In this paper, we propose to learn multiple tasks together, within a common environment, using one of the available PbD approaches. Task-parameterized Gaussian mixture model (TP-GMM) is used at the core of the proposed approach. A database of TP-GMMs will be...
Safety is one of the critical challenges for a semi or fully automated driving assistance systems. One of the key parameters for a safe automated driving assistance system is precise localization of the self and surrounding vehicles. Our previous work demonstrated the use of Symmetric Measurement Equations (SME) in a Factor Graph framework and exploited the use of sensor located outside the vehicle...
A new manipulation strategy has been proposed to grasp various objects stably using a dual-arm robotic system in the ROS environment. The grasping pose of the dual-arm has been determined depending upon the shape of the objects which is identified by the pan/tilt camera. For the stable grasping of the object, an operability index of the dual-arm robot (OPIND) has been defined by using the current...
Optical belt sorters can be used to sort a large variety of bulk materials. By the use of sophisticated algorithms, the performance of the complex machinery can be further improved. Recently, we have proposed an extension to industrial optical belt sorters that involves tracking the individual particles on the belt using an area scan camera. If the estimated behavior of the particles matches the true...
In this work, we propose a novel human activity recognition method from depth videos using robust spatiotemporal features with convolutional neural network. From the depth images of activities, human body parts are segmented based on random features on a random forest. From the segmented body parts in a depth image of an activity video, spatial features are extracted such as angles of the 3-D body...
Functional near-infrared spectroscopy (fNIRS) can be employed to investigate brain activation by measuring the absorption of near-infrared light through an intact skull. fNIRS can measure hemoglobin signals, which are similar to functional magnetic resonance imaging (fMRI) blood-oxygen-level-dependent (BOLD) signals. The general linear model (GLM), which is a standard method for fMRI imaging, has...
In this paper, a study has been conducted to present a high resolution optical localization and tracking method for micro-robots or micro-conveyors moved over a smart surface in a context of micro-factory. The first approach of this work is presented here, the localization and tracking principles are described, the algorithm is presented and finally, experimentation work on system calibration and...
Human-autonomy teaming using physiological sensors poses a novel sensor fusion problem due to the dynamic nature of the sensor models and the difficulty of modeling their temporal and inter-subject variability. Developing analytical models therefore requires defining objective criteria for selection and weighting of sensors under an appropriate fusion paradigm. We investigate a selection methodology...
Within the context of road estimation, the present paper addresses the problem of the fusion of several sources with different reliabilities. Thereby, reliability represents a higher-level uncertainty. This problem arises in automated driving and ADAS due to changing environmental conditions, e.g., road type or visibility of lane markings. Thus, we present an online sensor reliability assessment and...
Calibration between Lidar sensor and RGB cameras can be applied to various fields such as object recognition and tracking, 2D-3D mapping, and simultaneous localization and mapping (SLAM). Different methods for calibrating Lidar sensor and RGB cameras have been proposed using special 3D markers or calibration patterns. However, most of these methods have disadvantages of longer processing time, and...
Autonomous driving poses unique challenges for vehicle environment perception due to the complicated driving environment where the autonomous vehicle connects itself with surrounding objects. Precise tracking of the relevant dynamic traffic participants (e.g., vehicle/byciclist/pedestrian) becomes a key component for the task of comprehensive environmental perception and reliable scene understanding...
Frontier-based exploration is the most common approach to exploration, a fundamental problem in robotics. Laser scanner and Kinect have been widely used in robotic application for simultaneous localization and mapping (SLAM) separately. The paper proposes a method to combine the data from Kinect and laser scanner to perform a Frontier-based exploration SLAM. The 2 sensors will be installed facing...
Structured light 3D camera systems are composed of a commercial video projector and a machine vision camera. High scan speed structured light 3D camera systems, suffers synchronization problems due to a mismatch in the projector screen refresh rate, and camera capturing speed. Commercial video projectors project with fixed refresh rate, frame rate of machine vision camera's increase or decrease with...
In robotics, non-linear least squares estimation is a common technique for simultaneous localization and mapping. One of the remaining challenges are measurement outliers leading to inconsistency or even divergence within the optimization process. Recently, several approaches for robust state estimation dealing with outliers inside the optimization back-end were presented, but all of them include...
This paper addresses the design and implementation of multisensor systems techniques that provide occupant knowledge and enable effective use of the smart space. The integration of feature selection and Bayesian classification provides consistent detection of occupants and occupant locations. Additionally, occupancy detection and activity recognition are extended through the multisensor fusion of...
This paper describes the implementation of a 3D handheld scanning approach based on Kinect. User may get the 3D scans at a very fast rate using real time scanning devices like Kinect. These devices have been utilized in several applications, but the scanning lacks in the accuracy and reliability of the 3D data, which makes their employment a difficult task. This research proposed the 3D handheld scanning...
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