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In the renewal process of office interiors, a robotic system is needed in order to assist the human workers engaged in this kind of job. Regarding the items in the ceiling side, after the dismantling task of the ceiling panels, it is necessary to remove carefully the screws that once held these boards to the Light Gauge Steel (LGS), with the purpose of reusing. The proposed methodology to achieve...
Creating robots able to interact and cooperate with humans in household environments and everyday life is an emerging topic. Our goal is to facilitate a human-like and intuitive interaction with such robots. Besides verbal interaction, gestures are a fundamental aspect in human-human interaction. One typical usage of interactive gestures is referencing of objects. This paper describes a novel integrated...
In robotics, vertical lines have been always very useful for autonomous robot localization and navigation in structured environments. This paper presents a robust method for matching vertical lines in omnidirectional images. Matching robustness is achieved by creating a descriptor which is very distinctive and is invariant to rotation and slight changes of illumination. We characterize the performance...
Because of its 360deg field of view, an omni-directional camera is suitable for detecting and tracking environmental features in mobile robot navigation applications. This study aims to investigate simultaneous localization and mapping (SLAM) of a mobile robot using omni-directional images. A switching method of visual reference scans is proposed to facilitate fast visual scan matching in the SLAM...
In this paper, we describe the concept, design and implementation of a series of autonomous mobile soccer robots, named ldquoMusashirdquo robot, which have safety design which is based on ISO and a mechatronics modular architecture, to participate in the RoboCup middle-size league. In modularity design methodology, we show that the selection of a proper moving mechanism, a suitable vision system and...
In this paper we address the problem of visual navigation of a mobile robot which simultaneously obtains metric localization and scene reconstruction using homographies. Initially, the robot is guided by a human and some scenes during the trip are stored from known reference locations. The interest of this paper consist in the possibility of getting real and precise data of the robot motion and the...
The knowledge of the pose and the orientation of mobile robot in its operating environment is of utmost importance for an autonomous robot. In this paper, we present a new robot localization method integrates distributed vision sensors with Monte Carlo localization (MCL) method. Firstly, an improved MCL method is used to estimates the posterior distribution of robot poses conditioned on sensor data...
This paper presents an Active disturbance rejection controller (ADRC) based lateral control algorithm for tracked robots on stairs, with the heading angle estimated by the vision system fixed on the robot. It can help the robot keeping its posture in order to avoid the serious influences caused by a wrong operation. Or with some further efforts on intelligent control, the robot can also auto guided...
This paper presents a method for estimating the six-degrees-of-freedom transformation between a camera and the body of the robot on which it is rigidly attached. The robot maneuvers in front of a planar mirror, allowing the camera to observe fiducial features on the robot from several vantage points. Exploiting these measurements, we form a maximum-likelihood estimate of the camera-to-body transformation,...
This paper describes a visual odometry algorithm for estimating frame-to-frame camera motion from successive stereo image pairs. The algorithm differs from most visual odometry algorithms in two key respects: (1) it makes no prior assumptions about camera motion, and (2) it operates on dense disparity images computed by a separate stereo algorithm. This algorithm has been tested on many platforms,...
The problem of estimating the positions of landmarks using a mobile robot equipped with a camera has intensively been studied in the past. In this paper, we consider a variant of this problem in which the robot should estimate the locations of observed landmarks based on a sparse set of geo-referenced images for which no heading information is available. Sources for such kind of data are image portals...
Inspection of an environment is often limited to a single video feed, provenient from a camera assembled on a mobile robot. This is known as the keyhole effect. In addition to this, the operator must often perform several tasks at the same time and specially in cluttered environments it can be hard to navigate the robot and at the same time keep the viewpoint of a camera aligned with a specific point...
This paper presents a teleoperation system to control mobile robot remotely. The system architecture is based on network technology. To get a synthetical knowledge of the robot and its working environment, besides the real video feedback from the robot vision system, a multiple viewpoints virtual scene of the robot and its worksite is constructed. It can present images in first person and third person...
In the recent years visual servo control has become a popular research topic in robotics. Usually, it is applied to fixed-base robotic manipulators working in a structured industrial environment. This paper focuses on developing a visual servo control system for a mobile robot, which operates in an unstructured environment. First, the system hardware and control objective are introduced. Second, the...
Autonomous robot navigation has many applications such as space exploration and autonomous vehicles. Currently, such navigation is ensured by the use of multiple sensors which may hinder quick commercialization. In this article, we propose a solution for navigating a robot in an unknown environment using only monocular vision algorithms.
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 presents a novel solution for building three-dimensional dense maps in unknown and unstructured environment with reduced computational costs. This is achieved by giving the robot the dasiaintelligencepsila to select, out of the steadily collected data, the maximally informative observations to be used in the estimation of the robot location and its surroundings. We show that, although the...
The path followed by a mobile robot while mapping an environment (i.e. an exploration trajectory) plays a large role in determining the efficiency of the mapping process and the accuracy of any resulting metric map of the environment. This paper examines some important aspects of path planning in this context: the trade-offs between the speed of the exploration process versus the accuracy of resulting...
Fire brigades and special rescue agencies are often demanded to operate for search and aid of human lives in extremely dangerous scenarios. The use of robotic tools can make those operations safer for the operators and more efficient in terms of time and allocation of resources. This contribution describes the development of the newest tracked vehicle HELIOS IX. This mobile platform equipped with...
This work considers a mobile service robot which uses an appearance-based representation of its workplace as a map, where the current view and the map are used to estimate the current position in the environment. Due to the nature of real-world environments such as houses and offices, where the appearance keeps changing, the internal representation may become out of date after some time. To solve...
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