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Visual place recognition (VPR) in changing environments is an urgent challenge for long-term autonomous navigation. One recent ConvNet landmark-based approach exploits region landmarks coupled with ConvNet features to match images, and the approach has shown promising results under significant environmental and viewpoint changes. In this paper, we propose a robust ConvNet landmark-based system for...
Illumination changes are a typical problem for many outdoor long-term applications such as visual place recognition. Keypoints may fail to match between images taken at the same location but different times of the day. Although recently some methods are presented for creating shadow-free image representations, all of them have the limitation in terms of dealing with night images and non-Planckian...
A simple and reliable keypoint matching method is proposed in this paper. Our research is motivated by the desire to improve the performance of multi-view geometry (MVG) based verification in visual loop closure detection under significant illumination change, where traditional methods may fail due to their inability to either find a sufficient number of correctly matched keypoints or identify correct...
For biped pole-climbing robots (BiPCRs), footholds, indicating a sequence of discrete gripping points from the start to the goal, are necessary for travelling in trussed environments. Graspable region in each climbing cycle is the valuable priori knowledge for consideration of selecting specific grasping point. However, how to evaluate all the grasps within the graspable region so as to provide a...
During the workflow of the Intravenous Medication Preparation Robot (referred as IMP robot), there are some troublesome issues such as a wide variety of drugs, diverse bottle specifications, complex pharmaceutical preparation process, which make the robot system difficult to control. In this paper, an expert system based control system has been designed and implemented for the Intravenous Medication...
Junction surface plays an important role in the performance of a modular robot in terms of positioning error and system stiffness. In this paper, junction surfaces of robotic modules are modeled and analyzed based on virtual medium. The asperity of a junction surface is first made equivalent to an isotropic virtual medium layer, and the thick surface contact fractal theory is combined with the contact...
This paper investigates the problem of robot visual homing — the navigation to a goal location by a mobile robot using visual sensory input. The visual homing approach taken is to consider the flow vectors between a robot's current view and a desired milestone view. The flow vectors can be used to determine an angular velocity command that attempts to align the two views under a constant forward speed...
W-Climbot is an inchworm-like biped wall-climbing robot we developed with a modular approach. Consisting of five joint modules and two suction modules, the robot is actually a mobile 5-DoF arm with dual end-effectors at the two ends. With this kinematic structure and biped climbing mode, W-Climbot has superior wall-climbing function (e.g., great ability to omni-directional locomotion, to negotiate...
In this work we present a new approach for detecting loop closures in a real-time online setting. The Loop Closure Detection problem is important in visual SLAM applications and different approaches exist to deal with this problem. Most of these approaches are based on the Bag-of-Words approach, and assume a fixed visual vocabulary can work in different types of environments. However BOW is known...
Biomimetic flapping-wing robot is a new type of miniature air vehicle mimicking birds or insects to fly, with many unique advantages that traditional fixed-wing and rotary-wing aircrafts do not possess. Unsteady aerodynamics at low Reynolds number is the main theory applied to the flight analysis of such air vehicles with flapping-wings, and it is still a big challenge. Various models have recently...
Carangiform biomimetic robotic fish are underactuated mechanical systems whose governing equations are highly nonlinear. Based on the quasi-steady flow model of a three-link biomimetic robotic fish of Caltech, we have the model form of a control-affine nonlinear system with drift. Then we make use of geometric tools to research control methods of forward gaits and turning gaits. Through analyzing...
Nature has demonstrated that geometrically interesting and functionally useful structures can be built in an entirely distributed fashion. We present a biologically-inspired model and several algorithms for three-dimensional self-assembly, suitable for implementation by very simple reactive robots. The robots, which we call assembly components, have limited local sensing capabilities and operate without...
Behavior-based controllers for complex missions often are more easily designed by decomposing the mission into a series of smaller subtasks. When applying this technique to a multiple-robot system, the entire system should focus its work on one subtask at a time to prevent interference from robots working on conflicting subtasks simultaneously. We present a behavior-based approach to the task-sequencing...
In this paper, we propose a numerical approach to generate the workspace of a multifingered robotic hand manipulating an object in the 3-D case. Based on feasibility analysis of grasps, the proposed approach uses a numerical optimization technique to first compute discretely the boundary of the possible motion of the grasped object, and then the limits of rotation about various axes at a specified...
The knowledge of the workspace of a robotic multifingered hand is crucial in order to plan grasp and dexterous manipulation, as in the cases of other robotic systems. In this paper, we propose a numerical approach to compute and visualize the workspace of a multifingered robotic hand manipulating an object in the planar case. Based on feasibility analysis of grasps, the proposed approach uses a numerical...
Ecological studies of shallow water and wetland habitats are often hindered by difficulty accessing remote sites. Current methods of data acquisition, are either lack of the flexibility that is critical to characterizing conditions or organisms in dynamic habitats (such as physical sampling, mounting sensors in the field), or too big and expensive to work in shallow water or wetland habitats (such...
As a means of biometric identification, gait analysis has attracted much attention in both research and industry. Most methods focus on human posture identification, tracking and medicine treatment assistant. Few methods, however, investigate the relationship between the load carried by an individual and the characteristics of his/her gait. In this paper, we present a method to estimate the weight...
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