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This paper addresses the problem of learning and efficiently representing discriminative probabilistic models of object-specific grasp affordances particularly when the number of labeled grasps is extremely limited. The proposed method does not require an explicit 3D model but rather learns an implicit manifold on which it defines a probability distribution over grasp affordances. We obtain hypothetical...
This paper proposes a new localization method for outdoor navigation using a stereo camera only. Vision-based navigation in outdoor environments is still challenging because of large illumination changes. To cope with various illumination conditions, we use 2D occupancy grid maps generated from 3D point clouds obtained by a stereo camera. Furthermore, we incorporate salient line segments extracted...
Three dimensional point clouds acquired by range scanners often do not represent the environment precisely due to noise and errors in the acquisition process. These latter systematical errors manifest as deformations of different kinds in the 3D range image. This paper presents a novel approach to correct deformations by an analysis of the structures present in the environment and correcting them...
Typical tasks of future service robots involve grasping and manipulating a large variety of objects differing in size and shape. Generating stable grasps on 3D objects is considered to be a hard problem, since many parameters such as hand kinematics, object geometry, material properties and forces have to be taken into account. This results in a high-dimensional space of possible grasps that cannot...
In this paper the problem of 3D physiological motion compensation in beating heart surgery is resolved by an adaptive control architecture based on Model Reference Adaptive Control (MRAC). The proposed control architecture uses the measures of the contact efforts applied by the surgical tool on the heart to assure force feedback. No apriori information about motion characteristics is necessary. It...
An improved PSO algorithm which is applied to mobile robot path planning is proposed. In this paper, we use the grid method to decompose two-dimensional space of the robot path to build the path space model. Using this method is simple and easy to achieve computer modeling, storing, processing, updating and analyzing. It can make the pairs of particles in the algorithm exchange information by leading...
The 40th anniversary of Apollo 11 project with man landing on the moon reminds the world again by what science and engineering can do if the man is determined to do. However, a huge step can only be achieved step by step which may be relatively small at the beginning. Robotic exploration can provide necessary information needed to do the further step safely, with less cost, more conveniently. Trajectory...
Advancing research into autonomous micro aerial vehicle navigation requires data structures capable of representing indoor and outdoor 3D environments. The vehicle must be able to update the map structure in real time using readings from range-finding sensors when mapping unknown areas; it must also be able to look up occupancy information from the map for the purposes of localization and path-planning...
We present the Viewpoint Feature Histogram (VFH), a descriptor for 3D point cloud data that encodes geometry and viewpoint. We demonstrate experimentally on a set of 60 objects captured with stereo cameras that VFH can be used as a distinctive signature, allowing simultaneous recognition of the object and its pose. The pose is accurate enough for robot manipulation, and the computational cost is low...
For successful deployment, personal robots must adapt to ever-changing indoor environments. While dealing with novel objects is a largely unsolved challenge in AI, it is easy for people. In this paper we present a framework for robot supervision through Amazon Mechanical Turk. Unlike traditional models of teleoperation, people provide semantic information about the world and subjective judgements...
We study two important problems in the area of robot grasping: i) the methodology and representations for grasp selection on known and unknown objects, and ii) learning from experience for grasping of similar objects. The core part of the paper is the study of different representations necessary for implementing grasping tasks on objects of different complexity. We show how to select a grasp satisfying...
3D data collected by a laser scanner has great potential for robotic applications. Exact geometrical models of the environment surrounding the robot can be created from these point clouds. But, before creating any model, the 3D point cloud has to be segmented and depending on the size and quality of the point cloud, this can be a very challenging task. This article describes a robust 3D scan segmentation...
Robust and reliable obstacle detection is an important capability for mobile robots. In our previous works we have presented an approach for visual obstacle detection based on feature based monocular scene-reconstruction. Most existing feature-based approaches for visual SLAM and scene reconstruction select their features uniformly over the whole image based on visual saliency only. In this paper...
Interestingly Humans are able to maintain rough estimations of visibility, reachability and other capabilities of not only themselves but of the person they are interacting with. Studies in neuroscience and psychology suggest that from the age of 12-15 months children start to understand the occlusion of others line-of-sight and from the age of 3 years they start to develop the ability, termed as...
The article proposes a new feedback control model which is suited for path following in a 3 Dimensional Cartesian space. Differently from other methods in literature, the method proposed neither requires to compute a projection of the robot's position on the path, nor it needs considering a moving virtual target. In spite of this: i) it guarantees asymptotic stability for every 3D curve which can...
The characteristics of a variety of 3D lattices are assessed for their performance when applied to typical robotics problems. The lattices studied are the Cubic, Body Centred Cubic (BCC), Face Centred Cubic (FCC), hexagonal prismatic and finally the Mean Centred Cuboidal (MCC). An algorithm for generic quantization to any low dimensional lattice is presented allowing this analysis to be easily extended...
The recently introduced Minimum Uncertainty Maximum Consensus (MUMC) algorithm for 3D scene registration using planar-patches is tested in a large outdoor urban setting without any prior motion estimate whatsoever. With the aid of a new overlap metric based on unmatched patches, the algorithm is shown to work successfully in most cases. The absolute accuracy of its computed result is corroborated...
In this paper a vision system for robust feature extraction and 3D reconstruction of boundary segmented objects is presented. The goal of the system is reliable perception of a professional life environment in a scenario of the rehabilitation robot FRIEND. Reconstructed scenes are used to plan object manipulation with a 7-DoF manipulator arm. The robustness of boundary feature extraction is achieved...
A system has been developed that can project an embodied agent's image and sound anywhere in a room. It can thus overcome the problems inherent to other embodied agents in dealing with 2D on-screen information and 3D physical information simultaneously. An experiment demonstrated that this `PROT' agent can effectively present both on-screen information and real-world physical information. Because...
This paper presents our work towards a decentralized reconfiguration strategy for self-reconfiguring modular robots, assembling furniture-like structures from Roombots (RB) metamodules. We explore how reconfiguration by locomotion from a configuration A to a configuration B can be controlled in a distributed fashion. This is done using Roombots metamodules-two Roombots modules connected serially-that...
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