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We have developed a vector coprocessor for a wireless baseband SoC for mobile devices using processor description language. The design of the vector coprocessor is highly-complex and it requires a lot of design time and costs with a conventional design flow. To address this problem, we developed an architecture design flow with an untimed model and a performance estimator. We achieved 4.5 times better...
This paper proposes a new localization method for outdoor navigation using a stereo camera only. Vision-based navigation in outdoor environments is still challenging because of large illumination changes. To cope with various illumination conditions, we use 2D occupancy grid maps generated from 3D point clouds obtained by a stereo camera. Furthermore, we incorporate salient line segments extracted...
This paper proposes a light-weight sensor platform that consists of gyro-assisted odometry and a 3D laser scanner for localization of human-scale robots. The gyro-assisted odometry provides highly accurate positioning only by dead-reckoning. The 3D laser scanner has a wide field of view and uniform measuring-point distribution. Robust and computationally inexpensive localization is implemented on...
This paper presents a method of 3D localization using image edge-points detected from binocular stereo image sequences. The proposed method calculates camera poses using visual odometry, and updates the poses by reducing the accumulated errors using landmark recognition. Landmark recognition is done based on robust and scalable image-retrieval using image edge-points with SIFT descriptors and a vocabulary...
This paper presents a method of 3D mapping using a binocular stereo camera with automatic recovery from registration failure. We employ edge points as map element, and apply a variant of ICP algorithm to the inter-frame registration. The method detects failure in the registration due to erratic camera motion or moving objects and recovers from the failure by searching a good image to resume the registration...
Our goal is that the robot learns specific objects (not object category) from images. The major problem here is how to separate the target object from the background. We create a scene model from an image sequence. The scene model contains both the target object and background. We separate the target object from the background by matching the scene model and training images having different backgrounds...
This paper introduces a planning method for handling furniture which exists in real world. We propose a method which is easily expandable its handle able furniture such as closet, shelf and so on. If the robot can handle such furniture autonomously, it is expected that multiple daily tasks, for example, storing a small object in a drawer, can be achieved by the robot. Because perplexing processes...
This paper presents a method of 3D SLAM using a single camera. We utilize a Rao-Blackwellised particle filter (RBPF) to deal with a large number of landmarks. A difficulty in monocular SLAM is robustness to outliers and noise, which may cause false estimates especially under short baseline conditions. We propose an exhaustive pose-space search that finds all the plausible hypotheses efficiently using...
In this paper a motion planning method for a mobile manipulator is proposed. In general, humans can grasp an object by various way which depends on object posture, position and so on. The objective of this paper is to present how to detect a pose of a mobile manipulator under the condition that several grasp ways are given to the robot. Motion errors and object position errors are considered to detect...
A motion support system is important for improving the quality of life for people with inadequate muscle power for walking or standing. Such a system must maintain coordination between the movement of the living body and that of the motion support system with respect to timing and power. We have developed a preliminary assistance device for human locomotion that does not restrict movement of the user's...
In a partially reconfigurable FPGA, arbitrary portions of its logic resources and interconnection networks can be reconfigured without affecting the other parts. Thus, several tasks can be mapped and executed concurrently in the FPGA. In order to execute the tasks efficiently using the limited resources of the FPGA, resource management becomes very important. Although some online FPGA placement methods...
This paper describes a grasp planning for a mobile manipulator which works in real environment. Mobile robot studies up to now that manipulate an object in real world practically use ID tag on an object or an object model which is given to the robot in advance. The authors aim to develop a mobile manipulator that can acquire an object model through video images and can manipulate the object. In this...
This paper presents a method of dense 3-D object modeling based on surface interpolation with line segments. The proposed method first reconstructs edges from an image sequence, and then creates line segments by connecting edge points to cover the object surface. False segments are eliminated using visibility constraints. The method can reconstruct dense models since line segments can be created with...
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