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For robotic precision spray application in vegetable farms, simultaneous accurate instance segmentation and robust tracking of plants are of great importance and a prerequisite for the following spray action. With onboard cameras, agricultural robots can apply Multiple Object Tracking and Segmentation (MOTS) methods, for instance, segmentation and tracking of plants. By assigning a unique identification...
The main contribution of this paper is an invariant extended Kalman filter (EKF) for visual inertial navigation systems (VINS). It is demonstrated that the conventional EKF based VINS is not invariant under the stochastic unobservable transformation, associated with a translation and a rotation about the gravitational direction. This can lead to inconsistent state estimates as the estimator does not...
In this paper, we present a method for real-time 3D sound sources mapping using an off-the-shelf robotic perception sensor equipped with a linear microphone array. Conventional approaches to map sound sources in 3D scenarios use dedicated 3D microphone arrays, as this type of arrays provide two degrees of freedom (DOF) observations. Our method addresses the problem of 3D sound sources mapping using...
Acquiring the accurate 3-D position of a target person around a robot provides fundamental and valuable information that is applicable to a wide range of robotic tasks, including home service, navigation and entertainment. This paper presents a real-time robotic 3-D human tracking system which combines a monocular camera with an ultrasonic sensor by the extended Kalman filter (EKF). The proposed system...
This paper investigates sound source mapping in a real environment using a mobile robot. Our approach is based on audio ray tracing which integrates occupancy grids and sound source localization using a laser range finder and a microphone array. Previous audio ray tracing approaches rely on all observed rays and grids. As such observation errors caused by sound reflection, sound occlusion, wall occlusion,...
In this paper, we propose a framework to map stationary sound sources while simultaneously localise a moving robot. Conventional methods for localisation and sound source mapping rely on a microphone array and either, 1) a proprioceptive sensor only (such as wheel odometry) or 2) an additional exteroceptive sensor (such as cameras or lasers) to get accurately the robot locations. Since odometry drifts...
In this paper, an approach for sound source localisation and calibration of an asynchronous microphone array is proposed to be solved simultaneously. A graph-based Simultaneous Localisation and Mapping (SLAM) method is used for this purpose. Traditional sound source localisation using a microphone array has two main requirements. Firstly, geometrical information of microphone array is needed. Secondly,...
Differences in locality in a structured environment cause variations in the reflection of an emitted acoustic wave. This paper exploits the above principle to propose a novel method of robot localization on a 2D map. The work brings novelty by using a simple acoustic emitter and a receiver for robot localization as opposed to exteroceptive sensors such as lasers, cameras, sonars and electromagnetic...
A solution to the condition assessment of fluid-filled conduits based on the analysis of in-pipe acoustic signal propagation is presented in this paper. The sensor arrangement consists of an acoustic emitter from which a known sonic pulse is generated, and a collocated hydrophone receiver that records the arrival acoustic wave at a high sampling rate. The proposed method exploits the influence of...
This paper presents a strategy for sound source localisation using an asynchronous microphone array. The proposed method is suitable for target tracking applications, in which the sound source with a known frequency is attached to the target. Conventional microphone array technologies require a multi-channel A/D converter for inter-microphone synchronization making the technology relatively expensive...
An non-linear Bayesian regression engine for robotic tracking based on an ultrasonic/RF sensor unit is presented in this paper. The proposed system is able to maintain systematic tracking of a leading human in indoor/outdoor settings with minimalistic instrumentation. Compared to popular camera based localization system the sonar array/RF based system has the advantage of being insensitive to background...
Pipe thickness maps are used to assess the condition in pipelines. Thickness maps are a 2.5D representation similar to elevation maps in robotics. Probabilistic frameworks, however, have barely been used in this context. This paper presents a general approach for generating probabilistic maps from heterogeneous sensor data. The key idea is to learn the spatial correlation of a sensor through Gaussian...
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