The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
There has been a recent interest in utilizing contextual knowledge to improve multi-label visual recognition for intelligent agents like robots. Natural Language Processing (NLP) can give us labels, the correlation of labels, and the ontological knowledge about them, so we can automate the acquisition of contextual knowledge. In this paper we show how to use tools from NLP in conjunction with Vision...
Interaural Intensity Difference (IID) and Interaural Time Difference (ITD) are two improtant cues for robot acoustic localization both in Artificial Intelligence (AI) and Human-Robot Interaction (HRI) areas. However, it is a challenge job to localize a sound source accurately and swiftly only by two acoustic sensors. In this paper, a time-delay compensation based two-layer probabilistic model is presented...
Temporal projection is the computational problem of predicting what will happen when a robot executes its plan. Temporal projection for everyday manipulation tasks such as table setting and cleaning is a challenging task. Symbolic projection methods developed in Artificial Intelligence are too abstract to reason about how to place objects such that they do not hinder future actions. Simulation-based...
The use of hand gestures provides an attractive alternative to cumbersome interface devices for human — machine interaction (HMI). However, recognition of hand gestures is not a simple problem. In this paper, we propose to decompose the hand gesture recognition problem into 2 steps. In the first step, we detect skin regions using a very fast algorithm of color segmentation. In the second step, each...
Map matching is a critical problem of robotic mapping and localization which has attracted broad interests in robot vision community. Despite its accuracy and efficiency, the popular RANSAC-based algorithm suffers from large memory requirements, which is proportional to the number N and size of maps. In this paper, our goal is to realize fast succinct map matching by introducing a part-based scene...
We extend a recent low cost real-time method of hand tracking and pose estimation in order to control an anthropomorphic robot hand. The approach is data-driven and based on matching the current image of a color-gloved hand with the best fitting image in a database to retrieve the posture. Then, using depth information from a Kinect camera and a color-sensitive iterative closest point-to-triangle...
The robust perception of robots is strongly needed to handle various objects skillfully. In this paper, we propose a novel approach to recognize objects and estimate their 6-DOF pose using 3D feature descriptors, called Geometric and Photometric Local Feature (GPLF). The proposed descriptors use both the geometric and photometric information of 3D point clouds from RGB-D camera and integrate those...
Many robotics tasks require the robot to predict what lies in the unexplored part of the environment. Although much work focuses on building autonomous robots that operate indoors, indoor environments are neither well understood nor analyzed enough in the literature. In this paper, we propose and compare two methods for predicting both the topology and the categories of rooms given a partial map....
We present a Sketch-Based Interface that allows non-expert users to create an animation from just pencil and paper. The interface works as a fast mockup tool for creating animations - turning the user's freehand 2D sketches into 3D animations. To facilitate animation construction in offline or computer-scarce scenarios, special emphasis is placed on paper-based instead of tablet-based sketches. The...
This paper presents a system that gives a robot the ability to diminish its own disturbing noise (i.e., ego noise) by utilizing template-based ego noise estimation, an algorithm previously developed by the authors. In pursuit of an autonomous, online and adaptive template learning system in this work, we specifically focus on eliminating the requirement of an offline training session performed in...
In this paper a novel solution to the problem of guiding a robotic gripper in order to perform manipulation tasks, is presented. The proposed approach consists of two main modules corresponding to the training and testing sessions, respectively. During training, we employ an ontology-based framework with a view to the establishment of a database holding information regarding several geometrical attributes...
Human commonsense is required to improve quality of robotic application. However, to acquire the necessary knowledge, robot needs to evaluate the appropriateness of the data it has collected. This paper presents an evaluation method, by combining the weighting mechanism in commonsense databases with a set of weighting factors. The method was verified on our Basic-level Knowledge Network. We conducted...
This paper presents an approach for computing power grasps for hands with kinematic structure similar to the human hand, which allows the implementation of strategies inspired in human grasping actions. The proposed method first samples the object surface to look for the best spots for creating an opposing grasp with two or three fingers, and then aligns the other fingers to match the local curvature...
This paper describes an extension of the sequential scene analysis system presented by Hager and Wegbreit [12]. In contrast to the original system, which was limited to scenes consisting of geometric primitives, such as spheres, cuboids, and cylinders computed from range data, the extended system is capable of dealing with arbitrarily shaped objects computed from range and intensity images. An object...
In this paper, a new buy-time fault tolerant method is proposed based on a bounding parameter estimation algorithm. The system parameters are confined within given bounds. The size of the bounds shrinks as more information becomes available. In this case, the reconfigurable control scheme can rely on the estimated parameter bounds to provide preliminary control to stabilize the system and slow down...
Many of today's mobile robots are supposed to perform everyday manipulation tasks autonomously. However, in large-scale environments, a task-related object might be out of the robot's reach. Hence, the robot first has to search for the object in its environment before it can perform the task. In this paper, we present a decision-theoretic approach for searching objects in large-scale environments...
In some countries, many problems according to aging are pointed out. Decrease of worker's physical ability is one of them. The old workers have high techniques, but physical ability is lower than that of young workers. And it becomes difficult to keep high quality. Hence it is thought that a power assist by robot is needed. The method that increases human motion simply is mainstream conventional power...
A fundamental task for a robotic audition system is sound source localization. This paper addresses the localization problem in a robotic humanoid context, providing a novel learning algorithm that uses binaural cues to determine the sound source's position. Sound signals are extracted from a humanoid robot's ears. Binaural cues are then computed to provide inputs for a neural network. The neural...
We present an improved strategy for finding kinematically-feasible precision grasps for particular robot hand. Following the concept of collecting samples of hand posture and classifying them into a database of information feature representing each hand configuration in our previous work, we can efficiently search for valid hand postures given a set of contact points with improvement in much faster...
This paper deals with sound source localization in a humanoid robotics context. Classical binaural localization algorithms often rely on the following process: first, binaural cues are extracted from the left and right microphone/ear signals; next, a model is exploited to infer the possible localization of the sound source. Such a method thus requires an accurate modeling of the head acoustic shadowing,...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.