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Currently, research on a jumping robot has been actively conducted in the Robotics field. In this paper, we propose a linkage structure of the jumping robot leg. The trajectory and take-off angle are simulated by using a free software, LINKAGE program. Also, we introduced the two types of the propulsion structure.
Recently emerging wireless sensor technologies integrate different types of sensor nodes in a network for information collection. The heterogeneous Wireless Sensor Network (WSN) imposes complex design challenges as nodes in such a network often have different requirements in terms of latency and bandwidth. Therefore, the channel access for nodes needs to be managed ensuring differentiated quality...
This paper proposes a geometric feature-based method to solve the Simultaneous Localization and Mapping (SLAM) problem in an unknown structured environment using a short range and low Field of View (FoV) measurement unit such as Kinect sensor. A RANdom SAmple Consensus (RANSAC) based algorithm is used for feature detection, and a grid-based point cloud segmentation method has been introduced to improve...
To interact with humans in Human Social Environments (HSEs), robots are expected to possess the ability of situational context perception and behave appropriately. In this paper, we propose two deep learning models, as situational context perception of robot, to learn from observations of human-robot interaction. Based on these models, we endow robot the capability of perceiving human's mentation...
Wearable motion tracking systems are becoming increasingly popular in human-machine interfaces. For inertial measurement, it is vital to efficiently fuse inertial, gyroscopic, and magnetometer data for spatial orientation. We introduce a new algorithm for this fusion based on using gradient descent to correct for the integral error in calculating the orientation quaternion of a rotating body. The...
Data or measurement-to-track association is an integral and expensive part of any solution performing multi-target multi-sensor Cooperative Localization (CL) for better state estimation. Various performance evaluations have been performed between various state-of-the-art solutions, but they have been often limited within same family of algorithms. However, there exist solutions which avoid the task...
This paper presents an objects-based topological mapping algorithm on different floors with various objects using a wheeled mobile robot. The extended Kalman filter (EKF) with adaptive measurement noise according to the terrain type is proposed to estimate the position of the robot. If an infrared distance sensor detects an object, the robot moves around the object to obtain the shape information...
Mapping is a very critical issue for enabling autonomous driving. This paper proposes a robust approach to generate high definition maps based on LIDAR point clouds and post-processed localization measurements. Many problems are addressed including quality, saving size, global labeling and processing time. High quality is guaranteed by accumulating and killing the sparsity of the point clouds in a...
Precise positioning plays a key role in successful navigation of autonomous vehicles. A fusion architecture of Global Positioning System (GPS) and Laser-SLAM (Simultaneous Localization and Mapping) is widely adopted. While Laser-SLAM is known for its highly accurate localization, GPS is still required to overcome accumulated error and give SLAM a required reference coordinate. However, there are multiple...
Due to much imperfect detection performance of onboard sensors in dense driving scenarios, the accurate and explicit perception of surrounding objects for Advanced Driver Assistance Systems and Autonomous Driving is challenging. This paper proposes a novel detection-level fusion approach for multi-object perception in dense traffic environment based on evidence theory. In order to remove uninterested...
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This research presents a scheme for explainable sleep quality evaluation utilizing the heart rate based sleep index. In the proposed model, the global covering rule induction of LERS (Learning from Examples based on Rough Sets) is used to generate rules associated with sleep quality status, such as ‘Bad,’ ‘Normal,’ and ‘Good.’ These rules are used to interpret the three sleep statuses. To show the...
This paper describes the approach taken by the team from the Robotic Intelligence Laboratory at Jaume I University to the Amazon Robotics Challenge 2017. The goal of the challenge is to automate pick and place operations in unstructured environments, specifically the shelves in an Amazon warehouse. RobInLab's approach is based on a Baxter Research robot and a customized storage system. The system's...
This paper presents a grid-based indoor radiolocation technique based on a Spatially Coherent Path Loss Model (SCPL). Received Signal Strength (RSS) fingerprints are collected at different positions in the environment from which the radio wave propagation for the environment is empirically approximated with the SCPL model. Unlike the conventional path loss models, SCPL approximates radio wave propagation...
This paper presents a fusion of monocular camera-based metric localization, IMU and odometry in dynamic environments of public roads. We build multiple vision-based maps and use them at the same time in localization phase. For the mapping phase, visual maps are built by employing ORB-SLAM and accurate metric positioning from LiDAR-based NDT scan matching. This external positioning is utilized to correct...
In object tracking field, occlusion situations between objects are important factors that degrade the performance of tracking algorithms. In this paper, we present a track management method in the tracking level to solve the discontinuous tracking problem caused by occlusions between detected objects. This work is performed by predicting the occlusion situation between detected objects and managing...
Laser rangefinders are very popular sensors in robot localization due to their accuracy. Typically, localization algorithms based on these sensors compare range measurements with previously obtained maps of the environment. As many indoor environments are highly symmetrical (e.g., most rooms have the same layout and most corridors are very similar) these systems may fail to recognize one location...
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