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Träfflista för sökning "hsv:(NATURVETENSKAP) hsv:(Data och informationsvetenskap) ;pers:(Lilienthal Achim J. 1970)"

Sökning: hsv:(NATURVETENSKAP) hsv:(Data och informationsvetenskap) > Lilienthal Achim J. 1970

  • Resultat 1-10 av 139
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1.
  • 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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2.
  • Andreasson, Henrik, 1977-, et al. (författare)
  • A Minimalistic Approach to Appearance-Based Visual SLAM
  • 2008
  • Ingår i: IEEE Transactions on Robotics. - New York, NY, USA : IEEE. - 1552-3098. ; 24:5, s. 991-1001
  • Tidskriftsartikel (refereegranskat)abstract
    • This paper presents a vision-based approach to SLAM in indoor / outdoor environments with minimalistic sensing and computational requirements. The approach is based on a graph representation of robot poses, using a relaxation algorithm to obtain a globally consistent map. Each link corresponds to a relative measurement of the spatial relation between the two nodes it connects. The links describe the likelihood distribution of the relative pose as a Gaussian distribution. To estimate the covariance matrix for links obtained from an omni-directional vision sensor, a novel method is introduced based on the relative similarity of neighbouring images. This new method does not require determining distances to image features using multiple view geometry, for example. Combined indoor and outdoor experiments demonstrate that the approach can handle qualitatively different environments (without modification of the parameters), that it can cope with violations of the “flat floor assumption” to some degree, and that it scales well with increasing size of the environment, producing topologically correct and geometrically accurate maps at low computational cost. Further experiments demonstrate that the approach is also suitable for combining multiple overlapping maps, e.g. for solving the multi-robot SLAM problem with unknown initial poses.
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3.
  • Schreiter, Tim, 1997-, et al. (författare)
  • The Effect of Anthropomorphism on Trust in an Industrial Human-Robot Interaction
  • 2022
  • Ingår i: Trust, Acceptance and Social Cues in Human-Robot Interaction - SCRITA Workshop. - : IEEE.
  • Konferensbidrag (refereegranskat)abstract
    • Robots are increasingly deployed in spaces shared with humans, including home settings and industrial environments. In these environments, the interaction between humans and robots (HRI) is crucial for safety, legibility, andefficiency. A key factor in HRI is trust, which modulates the acceptance of the system. Anthropomorphism has been shown to modulate trust development in a robot, but robotsin industrial environments are usually not anthropomorphic. We designed a simple interaction in an industrial environment in which an anthropomorphic mock driver (ARMoD) robot simulates driving an autonomous guided vehicle (AGV). The task consisted of a human crossing paths with the AGV, with or without the ARMoD mounted on the top, in a narrow corridor. The human and the system needed to negotiate trajectories when crossing paths, meaning that the human had to attend to the trajectory of the robot to avoid a collision with it. There was a significant increment in the reported trust scores in the condition where the ARMoD was present, showing that the presence of an anthropomorphic robot is enough to modulate the trust, even in limited interactions as the one we present here.
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4.
  • Canelhas, Daniel R., 1983-, et al. (författare)
  • From Feature Detection in Truncated Signed Distance Fields to Sparse Stable Scene Graphs
  • 2016
  • Ingår i: IEEE Robotics and Automation Letters. - Piscataway, USA : Institute of Electrical and Electronics Engineers (IEEE). - 2377-3766. ; 1:2, s. 1148-1155
  • Tidskriftsartikel (refereegranskat)abstract
    • With the increased availability of GPUs and multicore CPUs, volumetric map representations are an increasingly viable option for robotic applications. A particularly important representation is the truncated signed distance field (TSDF) that is at the core of recent advances in dense 3D mapping. However, there is relatively little literature exploring the characteristics of 3D feature detection in volumetric representations. In this paper we evaluate the performance of features extracted directly from a 3D TSDF representation. We compare the repeatability of Integral invariant features, specifically designed for volumetric images, to the 3D extensions of Harris and Shi & Tomasi corners. We also study the impact of different methods for obtaining gradients for their computation. We motivate our study with an example application for building sparse stable scene graphs, and present an efficient GPU-parallel algorithm to obtain the graphs, made possible by the combination of TSDF and 3D feature points. Our findings show that while the 3D extensions of 2D corner-detection perform as expected, integral invariants have shortcomings when applied to discrete TSDFs. We conclude with a discussion of the cause for these points of failure that sheds light on possible mitigation strategies.
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5.
  • Krug, Robert, 1981-, et al. (författare)
  • Analytic Grasp Success Prediction with Tactile Feedback
  • 2016
  • Ingår i: Proceedings - IEEE International Conference on Robotics and Automation. - New York, USA : IEEE. - 1050-4729. ; , s. 165-171
  • Konferensbidrag (refereegranskat)abstract
    • Predicting grasp success is useful for avoiding failures in many robotic applications. Based on reasoning in wrench space, we address the question of how well analytic grasp success prediction works if tactile feedback is incorporated. Tactile information can alleviate contact placement uncertainties and facilitates contact modeling. We introduce a wrench-based classifier and evaluate it on a large set of real grasps. The key finding of this work is that exploiting tactile information allows wrench-based reasoning to perform on a level with existing methods based on learning or simulation. Different from these methods, the suggested approach has no need for training data, requires little modeling effort and is computationally efficient. Furthermore, our method affords task generalization by considering the capabilities of the grasping device and expected disturbance forces/moments in a physically meaningful way.
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6.
  • Krug, Robert, 1981-, et al. (författare)
  • The Next Step in Robot Commissioning : Autonomous Picking and Palletizing
  • 2016
  • Ingår i: IEEE Robotics and Automation Letters. - Piscataway, USA : Institute of Electrical and Electronics Engineers (IEEE). - 2377-3766. ; 1:1, s. 546-553
  • Tidskriftsartikel (refereegranskat)abstract
    • So far, autonomous order picking (commissioning) systems have not been able to meet the stringent demands regarding speed, safety, and accuracy of real-world warehouse automation, resulting in reliance on human workers. In this letter, we target the next step in autonomous robot commissioning: automatizing the currently manual order picking procedure. To this end, we investigate the use case of autonomous picking and palletizing with a dedicated research platform and discuss lessons learned during testing in simplified warehouse settings. The main theoretical contribution is a novel grasp representation scheme which allows for redundancy in the gripper pose placement. This redundancy is exploited by a local, prioritized kinematic controller which generates reactive manipulator motions on-the-fly. We validated our grasping approach by means of a large set of experiments, which yielded an average grasp acquisition time of 23.5 s at a success rate of 94.7%. Our system is able to autonomously carry out simple order picking tasks in a humansafe manner, and as such serves as an initial step toward future commercial-scale in-house logistics automation solutions.
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9.
  • Andreasson, Henrik, 1977-, et al. (författare)
  • 6D scan registration using depth-interpolated local image features
  • 2010
  • Ingår i: Robotics and Autonomous Systems. - Amsterdam, Netherlands : Elsevier. - 0921-8890 .- 1872-793X. ; 58:2, s. 157-165
  • Tidskriftsartikel (refereegranskat)abstract
    • This paper describes a novel registration approach that is based on a combination of visual and 3D range information.To identify correspondences, local visual features obtained from images of a standard color camera are compared and the depth of matching features (and their position covariance) is determined from the range measurements of a 3D laserscanner. The matched depth-interpolated image features allows to apply registration with known correspondences.We compare several ICP variants in this paper and suggest an extension that considers the spatial distance betweenmatching features to eliminate false correspondences. Experimental results are presented in both outdoor and indoor environments. In addition to pair-wise registration, we also propose a global registration method that registers allscan poses simultaneously.
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10.
  • Andreasson, Henrik, 1977-, et al. (författare)
  • Mini-SLAM : minimalistic visual SLAM in large-scale environments based on a new interpretation of image similarity
  • 2007
  • Ingår i: 2007 IEEE international conference on robotics and automation (ICRA). - New York, NY, USA : IEEE. - 9781424406012 ; , s. 4096-4101
  • Konferensbidrag (refereegranskat)abstract
    • This paper presents a vision-based approach to SLAM in large-scale environments with minimal sensing and computational requirements. The approach is based on a graphical representation of robot poses and links between the poses. Links between the robot poses are established based on odometry and image similarity, then a relaxation algorithm is used to generate a globally consistent map. To estimate the covariance matrix for links obtained from the vision sensor, a novel method is introduced based on the relative similarity of neighbouring images, without requiring distances to image features or multiple view geometry. Indoor and outdoor experiments demonstrate that the approach scales well to large-scale environments, producing topologically correct and geometrically accurate maps at minimal computational cost. Mini-SLAM was found to produce consistent maps in an unstructured, large-scale environment (the total path length was 1.4 km) containing indoor and outdoor passages.
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