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Sökning: AMNE:(NATURAL SCIENCES Computer and Information Sciences Computer Vision and Robotics Autonomous Systems) > Konferensbidrag

  • Resultat 1-10 av 21
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1.
  • Kavathatzopoulos, Iordanis, 1956- (författare)
  • Robots and systems as autonomous ethical agents
  • 2010
  • Ingår i: INTECH 2010. - Bangkok : Assumption University. - 9789746151108 ; , s. 5-9
  • Konferensbidrag (refereegranskat)abstract
    • IT systems and robots can help us to solve many problems caused by the quantity, variation and complexity of information; because we need to handle dangerous and risky situations; or because of our social and emotional needs like elderly care. In helping us, these systems have to make decisions and act accordingly to achieve the goals for which they were built. Ethical decision support tools can be integrated into robots and other decision making systems to secure that decisions are made according to the basic theories of philosophy and to the findings of psychological research.  This can be done, in non-independent systems, as a way for the system to report to its operator, and to support the operator's ethical decision making. On the other hand, fully independent systems should be able to regulate their own decision making strategies and processes. However, this cannot be based on normative predefined criteria, or on the ability to make choices, or on having own control, or on ability of rational processing.  It seems that it is necessary for an independent robot or decision system to have "emotions." That is, a kind of ultimate purposes that can lead the decision process, and depending on the circumstances, guide the adoption of a decision strategy, whatever it may be, rational, heuristic or automatic.
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2.
  • Kavathatzopoulos, Iordanis, 1956-, et al. (författare)
  • What are ethical agents and how can we make them work properly?
  • 2011
  • Ingår i: The computational turn. - Münster : MV-Wissenschaft. - 9783869913551 ; , s. 151-153
  • Konferensbidrag (refereegranskat)abstract
    • To support ethical decision making in autonomous agents, we suggest to implement decision tools based on classical philosophy and psychological research. As one possible avenue, we present EthXpert, which supports the process of structuring and assembling information about situations with possible moral implications.
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3.
  • Bouguerra, Abdelbaki, 1974-, et al. (författare)
  • An autonomous robotic system for load transportation
  • 2009
  • Ingår i: 2009 IEEE Conference on Emerging Technologies & Factory Automation (EFTA 2009). - New York : IEEE conference proceedings. - 9781424427277 - 9781424427284 ; , s. 1563-1566
  • Konferensbidrag (refereegranskat)abstract
    • This paper presents an overview of an autonomous robotic material handling system. The goal of the system is to extend the functionalities of traditional AGVs to operate in highly dynamic environments. Traditionally, the reliable functioning of AGVs relies on the availability of adequate infrastructure to support navigation. In the target environments of our system, such infrastructure is difficult to setup in an efficient way. Additionally, the location of objects to handle are unknown, which requires that the system be able to detect and track object positions at runtime. Another requirement of the system is to be able to generate trajectories dynamically, which is uncommon in industrial AGV systems.
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4.
  • Tiger, Mattias, 1989-, et al. (författare)
  • Stream Reasoning using Temporal Logic and Predictive Probabilistic State Models
  • 2016
  • Ingår i: 23nd International Symposium on Temporal Representation and Reasoning (TIME), 2016. - : IEEE Computer Society. - 9781509038251 ; , s. 196-205
  • Konferensbidrag (refereegranskat)abstract
    • Integrating logical and probabilistic reasoning and integrating reasoning over observations and predictions are two important challenges in AI. In this paper we propose P-MTL as an extension to Metric Temporal Logic supporting temporal logical reasoning over probabilistic and predicted states. The contributions are (1) reasoning over uncertain states at single time points, (2) reasoning over uncertain states between time points, (3) reasoning over uncertain predictions of future and past states and (4) a computational environment formalism that ground the uncertainty in observations of the physical world. Concrete robot soccer examples are given.
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5.
  • Nalpantidis, Lazaros, et al. (författare)
  • Computationally effective stereovision SLAM
  • 2010
  • Ingår i: 2010 IEEE International Conference on Imaging Systems and Techniques, IST 2010 - Proceedings. - : IEEE. - 9781424464944 ; , s. 458-463
  • Konferensbidrag (refereegranskat)abstract
    • In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed.
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6.
  • Porathe, Thomas, 1954, et al. (författare)
  • Maritime Unmanned Navigation through Intelligence in Networks: The MUNIN project
  • 2013
  • Ingår i: 12th International Conference on Computer and IT Applications in the Maritime Industries, COMPIT’13, Cortona, 15-17 April 2013. - 9783892206637 ; , s. 177-183
  • Konferensbidrag (refereegranskat)abstract
    • This paper introduces the MUNIN project attempting to put a 200 meter long bulk carrier under autonomous control. The paper gives a motivation and an overview of the project as well as present some of the key research questions dealing with the human intervention possibilities. As a fallback option the unmanned ship is monitored by a shore control center which has the ability to take direct control if necessary. A challenge for the unmanned ship is the interaction with other manned ships.
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7.
  • Ringdahl, Ola, 1971-, et al. (författare)
  • Performance of RGB-D camera for different object types in greenhouse conditions
  • 2019
  • Ingår i: 2019 European conference on mobile robots (ECMR). - : IEEE. - 9781728136066 - 9781728136059
  • Konferensbidrag (refereegranskat)abstract
    • RGB-D cameras play an increasingly important role in localization and autonomous navigation of mobile robots. Reasonably priced commercial RGB-D cameras have recently been developed for operation in greenhouse and outdoor conditions. They can be employed for different agricultural and horticultural operations such as harvesting, weeding, pruning and phenotyping. However, the depth information extracted from the cameras varies significantly between objects and sensing conditions. This paper presents an evaluation protocol applied to a commercially available Fotonic F80 time-of-flight RGB-D camera for eight different object types. A case study of autonomous sweet pepper harvesting was used as an exemplary agricultural task. Each of the objects chosen is a possible item that an autonomous agricultural robot must detect and localize to perform well. A total of 340 rectangular regions of interests (ROI) were marked for the extraction of performance measures of point cloud density, and variability around center of mass, 30-100 ROIs per object type. An additional 570 ROIs were generated (57 manually and 513 replicated) to evaluate the repeatability and accuracy of the point cloud. A statistical analysis was performed to evaluate the significance of differences between object types. The results show that different objects have significantly different point density. Specifically metallic materials and black colored objects had significantly less point density compared to organic and other artificial materials introduced to the scene as expected. The point cloud variability measures showed no significant differences between object types, except for the metallic knife that presented significant outliers in collected measures. The accuracy and repeatability analysis showed that 1-3 cm errors are due to the the difficulty for a human to annotate the exact same area and up to ±4 cm error is due to the sensor not generating the exact same point cloud when sensing a fixed object.
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8.
  • Nalpantidis, Lazaros, et al. (författare)
  • Obtaining reliable depth maps for robotic applications from a quad-camera system
  • 2009
  • Ingår i: INTELLIGENT ROBOTICS AND APPLICATIONS, PROCEEDINGS. - Berlin : Springer Berlin/Heidelberg. - 9783642108167 ; , s. 906-916
  • Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
    • Autonomous navigation behaviors in robotics often require reliable depth maps. The use of vision sensors is the most popular choice in such tasks. On the other hand, accurate vision-based depth computing methods suffer from long execution times. This paper proposes a novel quad-camera based system able to calculate fast and accurately a single depth map of a scenery. The four cameras are placed on the corners of a square. Thus, three, differently oriented, stereo pairs result when considering a single reference image (namely an horizontal, a vertical and a diagonal pair). The proposed system utilizes a custom tailored, simple, rapidly executed stereo correspondence algorithm applied to each stereo pair. This way, the computational load is kept within reasonable limits. A reliability measure is used in order to validate each point of the resulting disparity maps. Finally, the three disparity maps are fused together according to their reliabilities. The maximum reliability is chosen for every pixel. The final output of the proposed system is a highly reliable depth map which can be used for higher level robotic behaviors.
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9.
  • Kavathatzopoulos, Iordanis, 1956-, et al. (författare)
  • How ethical robots process information, communicate and act
  • 2015
  • Ingår i: 1st TRANSOR Workshop.
  • Konferensbidrag (refereegranskat)abstract
    • Robots can be of great help to obtain optimal solutions to problems in situations where humans have difficulties to perceive and process information, or make decisions and implement actions because of the quantity, variation and complexity of information. However, if they do not act in accordance to our ethical values they will not be used or will cause harm. Classical philosophical theory and psychological research on problem solving and decision making gives us a concrete definition of ethics and opens up the way for the construction of robots that can support handling of moral problems. Linguistic research focusing on language use as realization of meaning during the communication between humans and robots gives us the tools for investigating how particular linguistic features such as words and grammar may be related to ethical thinking. In such research work we can focus on three different kinds of robots: The first one is already programmed to act in certain ways, and the focus is on designers using ethical tools to identify moral problems and formulate solutions. The second is an integrated system which is also pre-programmed but also contains an ethical tool to gather information, to present it to the operators and to communicate with them. The third is trained autonomous systems in which we will implement automatic judgment. Such research will help us to clarify theoretical issues, to formulate working methods, and to develop technical solutions that will support ethical decision making of automated IT systems.
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10.
  • Kostavelis, Ioannis, et al. (författare)
  • Supervised traversability learning for robot navigation
  • 2011
  • Ingår i: 12th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2011. - Berlin, Heidelberg : Springer Berlin/Heidelberg. ; , s. 289-298
  • Konferensbidrag (refereegranskat)abstract
    • This work presents a machine learning method for terrain's traversability classification. Stereo vision is used to provide the depth map of the scene. Then, a v-disparity image calculation and processing step extracts suitable features about the scene's characteristics. The resulting data are used as input for the training of a support vector machine (SVM). The evaluation of the traversability classification is performed with a leave-one-out cross validation procedure applied on a test image data set. This data set includes manually labeled traversable and non-traversable scenes. The proposed method is able to classify the scene of further stereo image pairs as traversable or non-traversable, which is often the first step towards more advanced autonomous robot navigation behaviours.
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