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Human-robot interaction is necessary in remote teleoperation of robot manipulators, especially when the environment is unstructured and objects are unfamiliar. In traditional interactive methods using contacting mechanical devices, the motion of the operator is restricted and unnatural. While camera-based tracking has the benefit of being non-contact, previous vision-based approaches have used only...
An obstacle detection and tracking system using a 2D laser sensor and the Kalman filter is presented. This filter is not very efficient in case of severe disturbances in the measured position of the obstacle, as for instance, when an object being tracked is behind a barrier, thus interrupting the laser beam, making it impossible to receive the sensor information about its position. This work suggests...
Many service robots and various service modules are being developed. Robots for services, such as guiding, escorting, and nursing, require human-friendly navigation, which is an appropriate objective of interaction. This paper proposes a method for a mobile robot to detect a human leg and to follow the human for interaction with him/her. Most human-tracking schemes in mobile robots utilize vision...
As the precondition to perform many tasks including person following and dynamic obstacle avoiding, object tracking is very important for mobile robot systems especially in populated dynamic environment. A novel hybrid conditional random field model which has a hierarchical structure and includes hidden states is proposed for multi-object tracking with a mobile platform. Since conditional random field...
The mobile robot that works in dynamic environment must have strong ability of avoiding obstacles especially moving objects and move to it original goal. To achieve the goal, the dynamic polar coordinate environment model based on laser range finder is set up, which can not only simplify the environment description but also improve the responding ability. Based on these data a moving object tracking...
This paper is concerned with determining whether a mobile robot, called the pursuer, is up to maintaining visibility of an antagonist agent, called the evader. This problem, a variant of pursuit-evasion, has been largely studied, following a systematic treatment by increasingly relaxing a number of restrictions. In, we considered a scenario where the pursuer and the evader move at bound speed, traveling...
We propose a system for vision-based estimation of manipulation-relevant properties of objects in natural scenes based on observation of human actions. The system consists of an a-priori (Atlas) knowledge about known generic objects in the scene and classifies the scene into mission relevant objects and background geometry that is important only for collision avoidance. We present the object-centric...
This article introduces the development of a fast 3D active vision system, and a new concept based on space decomposition into virtual planes to support 3D real time obstacle detection during the navigation mission of autonomous mobile robots. This system uses the richness and the strength of the vision while reducing the data load, and computational cost by encoding coarsely the working space using...
This paper deals with the problem of mobile robot tracking an unpredictably moving target in the presence of obstacles. We suggest a new family of navigation laws that consists of cubic navigation functions. These laws depend on various external parameters that can be used to adjust the robot's path, especially to avoid collision with obstacles. The suggested method allows an easy combination between...
When a human is introduced into a robotic cell, the robot controller must be aware of the human location in order to assure her/his physical integrity. This paper presents a pre-collision strategy which maintains a safety distance between a robot and a human who wears a tracking system composed of a motion capture suit and a UWB localization system. The system proposed is able to guide the robot using...
This paper presents a new method for seamless fusion of arbitrary range sensors for mobile robot obstacle avoidance. This method, named virtual range scan (VRS), is able to deal with arbitrary sensor configurations (2D and 3D) and it is independent of the underlying obstacle avoidance strategy. This makes it a very flexible approach that can reuse existing 2D obstacle avoidance algorithms for 3D obstacle...
The navigation for a car-like wheeled robot (CLWR) in a distributed active-vision network-space system (DAVNSS) subject to three fuzzy variable-structure decentralized controls (FVSDCs) is developed. The scheme also includes trajectory tracking and obstacle avoidance. Two distributed wireless charge-coupled-device (CCD) cameras individually driven by two stepping motors, viz., active CCD1 and active...
This paper presents a method to generate vision and task based robot manipulator trajectories. In the framework of the research on daily assistive robots the task formulated for this work consists in ranging boxes in a shelf or picking them up and placing them into a shopping cart. For object recovery SIFT keypoint tracking in combination with stereo vision is used. A collision free trajectory between...
With increasing number of aging people, taking care of the elderly will become more and more important for future society, especially for those elderly living alone. This paper presents an autonomous mobile robot Rola (Robot of LivingAid) , which can handle certain emergency conditions in a home setting to help the elderly through multi-modal sensing and control functions. The implemented functions...
In this paper a ring of calibrated and synchronized cameras is used for achieving robot and obstacle localization inside a common observed area. To avoid complex appearance matching derived from the wide-baseline arrangement of cameras, a metric occupancy grid is obtained by intersection of silhouettes projected onto the floor. A particle filter is proposed for tracking multiple objects by using the...
This paper deals with the assessment of centralized fusion for two dissimilar sensors for the purpose of tracking road obstacles. The aim of sensor fusion is to produce an improved estimated state of a system from a set of independent data sources. Indeed, for a robust perception of the environment, seen here as obstacles, several sensors should be installed in the equipped vehicle: camera, lidar,...
We present in this article a simple method to estimate an IPM view from an embedded camera. The method is based on the tracking of the road markers assuming that the road is locally planar. Our aim is the development of a free-space estimator which can be implemented in an Autonomous Guided Vehicle to allow a safe path planning. Opposite to most of the obstacle detection methods which make assumptions...
An autonomous soccer robot system is developed in this research, and this system provided with an omnidirectional drive mechanism and an omni-directional vision. First of all, the forward and inverse differential kinematics of the omnidirectional robot is derived, based on which a kinematics controller of the robot is designed. Secondly, combined with the vision feedback, a servo control is devised...
In this paper, the trajectory tracking and obstacle avoidance for a car-like mobile robot (CLMR) within distributed active-vision network-space system (DAVNSS) via three fuzzy variable structure decentralized controls (FVSDCs) is developed. To implement trajectory tracking and obstacle avoidance, two distributed wireless CCD (charge-coupled device) cameras individually driven by two stepping motors,...
In this paper, it is presented an algorithm for processing visual data to obtain relevant information that will be afterwards used to track the different moving objects in complex indoor environments. In autonomous robots applications, visual detection of the obstacles in a dynamic environment from a mobile platform is a complicated task. The robustness of this process is fundamental in tracking and...
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