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This paper discusses the possibility of using the geometric shape of a pedestrian's head to shoulder region as a feature to identify individuals. The main aim is to track humans in a high density crowd using a 3D laser range finder (3D-LRF). One of the most critical problems of human tracking in a high density crowd is the occurrence of occlusion. Occlusion might occur because of the lack of features...
The budgeted information gathering problem — where a robot with a fixed fuel budget is required to maximize the amount of information gathered from the world — appears in practice across a wide range of applications in autonomous exploration and inspection with mobile robots. Although there is an extensive amount of prior work investigating effective approximations of the problem, these methods do...
Autonomous robot navigation through unknown, cluttered environments at high-speeds is still an open problem. Quadrotor platforms with this capability have only begun to emerge with the advancements in light-weight, small form factor sensing and computing. Many of the existing platforms, however, require excessive computation time to perform collision avoidance, which ultimately limits the vehicle's...
High resolution 3D mapping of road systems is currently being carried out by expensive Mobile Mapping Systems (MMS) but coverage is limited. Recently Low Cost Sensor (LCS) systems have been developed which use common, low cost, internal MEMS position sensors from mobile phones, but such sensors come with a reduced absolute and relative positional accuracy. This study investigates the registration...
We present an approach to learn and generate movements for robot actions from human demonstrations using Dynamical Movement Primitives (DMPs) framework. The human hand movements are recorded by a motion tracker using a Kinect sensor with a color-marker glove. We segment an observed movement into simple motion units which are called as motion primitives. Then, each motion primitive will be encoded...
Localization technique is a key technology for vehicular navigation and control. The use of satellite navigation is deemed essential. Yet, satellite-based navigation system is subject to multipath effect and signal blockages in urban area. To enhance the overall navigation capability, odometry techniques have been used as dead-reckoning devices to augment satellite navigation. To account the issues...
This paper presents an approach for selecting the next best base position for a climbing robot so as to observe the highest information gain about the environment. The robot is capable of adhering to and moving along and transitioning to surfaces with arbitrary orientations. This approach samples known surfaces, and takes into account the robot kinematics, to generate a graph of valid attachment points...
We address the challenging problem of tracking a moving target in cluttered environments using a quadrotor. Our online trajectory planning method generates smooth, dynamically feasible, and collision-free polynomial trajectories that follow a visually-tracked moving target. As visual observations of the target are obtained, the target trajectory can be estimated and used to predict the target motion...
We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update rate and finite inertia. We implemented two fundamental self-organized algorithms: one with constant direction and one with constant velocity preference to reach a...
In this paper, we will explore human movement using a tutoring spotter system which controls an iCub robot. We will present an evaluation based on the captured human movement from an experimental study, where our participants demonstrated a salt-shaker and a cup-stacking task to the iCub robot. We will use a method of action recognition, which will help the robot to differentiate between these actions,...
Currently, robot learning of human activities is mainly studied in two largely disconnected domains: high level semantics understanding in human activity recognition, and low level motion trajectory reproduction in robot imitation learning. The critical problem of human activity unified learning (HAUL) was not well studied in previous work. One important challenge is the lack of a representation that...
Proactive collision detection enables robots to efficiently execute tasks in shared human-robot-workspaces by avoiding collision-prone situations. Our work connects motion prediction of RGB-D flow algorithms with motion primitive planning via an efficient voxel Swept-Volume-based collision detection. The approach can handle scenarios with varying contents as we use the same techniques to predict single...
We consider the task of actively exploring unstructured environments to facilitate robotic grasping of occluded objects. Typically, the geometry and locations of these objects are not known a priori. We mount an RGB-D sensor on the robot gripper to maintain a 3D voxel map of the environment during exploration. The objective is to plan the motion of the sensor in order to search for feasible grasp...
Detection of aerial objects is a difficult problem to tackle given the dynamics and speed of a flying object. The problem is even more difficult when considering a noncontrolled environment, where the predominance of a given color is not guaranteed, and/or when the vision system is located on a moving platform. Taking as an example the game of robotic soccer promoted by the RoboCup Federation, most...
Most common methods for proper 3D capture of human movement require a laboratory environment and setting of markers, sensors accessories body segments. However, the high cost of these equipments is a limiting factor in our work environment. Motion capture systems like Microsoft's Kinect TM camera present alternative new approaches to motion capture technology. This paper proposes the design and implementation...
Using laser range finders has shown its efficiency to perform mapping and navigation for mobile robots. However, most of existing methods assume a mostly static world and filter away dynamic aspects while those dynamic aspects are often caused by non-stationary objects which may be important for the robot task. We propose an approach that makes it possible to detect, learn and recognize these objects...
This paper demonstrates some experimental proofs of the model for the classification and identification of robot sensing data. Autonomous robots are equipped with varied sensors to assist them in understanding and interacting with their environments. In contrast to traditional model approaches that are based on the Gaussian assumption, we propose the application of the infinite Gaussian mixture model...
In this paper, we report lessons learned through the design of a framework for teleoperating a humanoid robot to perform a manipulation task. We present a software framework for cooperative traded control that enables a team of operators to control a remote humanoid robot over an unreliable communications link. The framework produces statically-stable motion trajectories that are collision-free and...
Inspection and exploration of complex underwater structures requires the development of agile and easy to program platforms. In this paper, we describe a system that enables the deployment of an autonomous underwater vehicle in 3D environments proximal to the ocean bottom. Unlike many previous approaches, our solution: uses oscillating hydrofoil propulsion; allows for stable control of the robot's...
The present study aims at designing and evaluating a low-cost, simple and portable system for arm joint angle estimation during grasping-like motions. The system is based on a single RGB-D camera and three customized markers. The automatically detected and tracked marker positions were used as inputs to an offline inverse kinematic process based on bio-mechanical constraints to reduce noise effect...
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