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This paper proposes a new localization method for the mobile robots which should move to other floors using the elevators. The mobile robots use the various maps to obtain the spatial information, e.g. the floor numbers, the locations of waypoints, the structure shape of the spaces, etc. so that they can estimate the accurate position in the multi-floor buildings. As the maps in this paper, there...
This paper presents a constraint method based on the kinematics to improve the accuracy of gesture recognition using a weighted dynamic time warping (DTW) algorithm. The traditional approaches of gesture recognition using 2D images are some limitations to detect the certain actions of human due to the lack of the full motion data. As the development of 3D depth sensors, it is possible for the gesture...
Heterodera schachtii, the sugar beet cyst nematode, is a major pest of agricultural crops worldwide. We report the development of fifteen polymorphic microsatellite markers and assess the genetic diversity and structure of three populations following a recent invasion of a previously unaffected region. Populations had low levels of heterozygosity, likely indicative of population structure, history,...
This paper presents a location method for the mobile robots moving in the indoor environment by using the multi- projected texture stereo (PTS) cameras and a Wi-Fi Receiver. The proposed method is divided into three processes. First, a modulation of the multi-PTS cameras is registering three PTS cameras to measure the wide 3D depth and color images corresponding to the objects surrounding the robot...
This paper presents an indoor localization method for the mobile robots using the radio signal values and the geometry path on the map. It is divided into three parts, the building the maps, the estimating the position of the robots, and the experiment. First, as the map generation, we build two kinds of the maps which are a radio-based map and a topological map. The radio-based map consists of the...
This paper presents about the localization technology to estimate the positions of the mobile robot that is able to navigate through the multi-floor spaces, for expanding the application ranges of the robots. For this purpose, the mobile robots can use some maps having some information about the spaces in advance. In this paper, the maps are divided into two types according to the application; as...
This paper presents the Particle Filter (PF) based localization method to fast estimate the accurate position of the mobile robot by using the radio-based maps. It is progressed by two steps, coarse and fine localization methods. First, as the coarse localization process, the fingerprinting method with the radio-based map is able to approximately find the location of the robot within tens of meters...
It is very important that environment information is delivered quickly and clearly to the operator for the right management of a tele-operated robot system. This paper set a goal of visualization of spatial information to help the accurate control of a tele-operator in a complex and/or hazardous environment. The spatial visualization was divided into two parts, object visualization and ROI (Region...
This paper proposes a trajectory generation method for high-speed autonomous vehicles in a structured on-road environment, such as a highway. The proposed method generates a smooth trajectory using G2 cubic Bézier spiral smoothing, based on the current trajectory and the centerline model of a desired lane, and the velocity profile of the trajectory. Using the proposed method, an on-road vehicle can...
This paper presents three dimensional (3D) map building method for the intelligent vehicles based on accurate indoor localization using a mobile mapping system (MMS) that is equipped with perception sensors consist of a wheel odometer, a laser range finder (LRF), and two projected texture stereo (PTS) cameras. The environmental data measured by perception sensors are stored in the node units according...
This paper has proposed a mapping system to build the RSSI-based fingerprint database for indoor localization. The mapping system has been developed practically to achieve two main objectives, fast and accurate radio-map construction. For the first aim, we implement the specially designed handheld mapping cart consisting of an odometer, a LiDAR, and a WLAN receiver in order to rapidly measure the...
This paper describes the RGB depth (RGB-D) map building for mobile robots based on accurate outdoor localization and perception sensors consisting of wheel odometer, global positioning system (GPS), and camera and laser range finder (LRF). A localization method based on Particle Filter (PF) is used to integrate the sensor data and the topological map. The sensors data include geo-locations, the relative...
This paper describes a concerted effort to realize an automated robotic service in exhibition environments, characterized by a dense population of people with dynamic, random movements and a complex structure with large-scale dimensions. We describe the developed robotic service framework built based on robot navigation function. Spatial representation of the environment is described, on which spatial...
This paper presents an efficient method for building a topological map for robots in urban environments based on satellite image maps acquired from a geographic information system (GIS). In urban space, mobile robots need a special map, such as a topological map, to generate a path toward their goal. A topological map for mobile robot navigation should include semantic data, e.g., the width and type...
This paper presents the navigation technique for service mobile robots in large scale environment using artificial landmark. The robot navigation is comprised of three major components; localization, mapping, and path planning. To implement the stable navigation system of mobile robots, many developers could use the artificial landmark to measure the accurate position of robot in large scale environment...
This paper proposes the EKF localization with lateral distance information for the mobile robots in urban environments. The mobile robot is assumed to be operated at common roads where the lane marker exists. The lateral distance information given by the lane marker detector is used to compensate the measurement of global positioning system (GPS) before the EKF update step. In addition, the proposed...
This paper presents an efficient method for building a topological map for robots in urban environments based on a geographic information system (GIS) such as satellite maps. In urban space, mobile robots need a special map, such as a topological map, to generate a path toward their goal. Unlike a car map, a topological map for mobile robot navigation should include semantic data, e.g., the width...
This paper presents a localization method in urban environments by using dead reckoning sensors, Global Positioning System (GPS), and taking into account the benefits of map matching. Extended Kalman Filter (EKF) is used as the main framework to fuse the information from sensors. However, the result of the EKF greatly depends on how the robot utilizes and judges the position measurement which comes...
This paper presents a technique for accurate localization of mobile robots using an enhanced topological map and using the low-cost sensors such as wheel odometer, global positioning system (GPS), and mono-camera. The localization framework is based on EKF to fuse the sensor data and the topological map. The sensor data include the positions of traffic marks measured by camera and topological map...
We propose the augmented EKF Localization for mobile robots in urban environments. Odometer, GPS (Global Positioning System), gyroscope, and camera are used as the localization sensors. The proposed method is aimed for the mobile robot working in urban environments where the traffic lanes exist. Through a camera, the robot measures the lateral offset from the robot position to the centerline of road...
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