| 1. |
- Arnell, Fredrik, et al.
(författare)
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Generic fusion of visual cues applied to real-world object segmentation
- 2005
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Ingår i: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4. - 0780389123 ; , s. 2954-2959
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Konferensbidrag (refereegranskat)abstract
- Fusion of information from different complementary sources may be necessary to achieve a robust sensing system that degrades gracefully under various conditions. Many approaches use a specific tailor-made combination of algorithms that do not easily allow the inclusion of more, or other, types of algorithms. In this paper, we explore a variant of a generic algorithm for fusing visual cues to the task of object segmentation in a video stream. The fusion algorithm combines the output of several segmentation algorithms in a straight forward way by using a bayesian approach and a particle filter to track several hypotheses. Segmentation algorithms can be added or removed without changing the over all structure of the system. It was or particular interest to investigate if the method was suitable when realistic real-world scenes with much noise was analysed. The system has been tested on image sequences taken from a moving vehicle where stationary and moving objects are successfully segmented from the background. In conclusion, the fusion algorithm explored is well suited to this problem domain and is easily adopted. The context of this work is on-line pedestrian detection to be deployed in cars.
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| 2. |
- Brooks, A., et al.
(författare)
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Towards component-based robotics
- 2005
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Ingår i: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. - 0780389123 - 9780780389120 ; , s. 3567-3572
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Konferensbidrag (refereegranskat)abstract
- This paper gives an overview of Component-Based Software Engineering (CBSE), motivates its application to the field of mobile robotics, and proposes a particular component model. CBSE is an approach to system-building that aims to shift the emphasis from programming to composing systems from a mixture of off-the-shelf and custom-built software components. This paper argues that robotics is particularly well-suited for and in need of component-based ideas. Furthermore, now is the right time for their introduction. The paper introduces Orca - an open-source component-based software engineering framework proposed for mobile robotics with an associated repository of free, reusable components for building mobile robotic systems.
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| 3. |
- Ekvall, Staffan, et al.
(författare)
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Receptive field cooccurrence histograms for object detection
- 2005
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Ingår i: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4. - 0780389123 ; , s. 3969-3974
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Konferensbidrag (refereegranskat)abstract
- Object recognition is one of the major research topics in the field of computer vision. In robotics, there is often a need for a system that can locate certain objects in the environment - the capability which we denote as 'object detection'. In this paper, we present a new method for object detection. The method is especially suitable for detecting objects in natural scenes, as it is able to cope with problems such as complex background, varying illumination and object occlusion. The proposed method uses the receptive field representation where each pixel in the image is represented by a combination of its color and response to different filters. Thus, the cooccurrence of certain filter responses within a specific radius in the image serves as information basis for building the representation of the object. The specific goal in this work is the development of an on-line learning scheme that is effective after just one training example but still has the ability to improve its performance with more time and new examples. We describe the details behind the algorithm and demonstrate its strength with an extensive experimental evaluation.
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| 4. |
- Folkesson, John, 1960-, et al.
(författare)
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Graphical SLAM using vision and the measurement subspace
- 2005
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Ingår i: 2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4. - : IEEE conference proceedings. - 0780389123 ; , s. 325-330
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Konferensbidrag (refereegranskat)abstract
- In this paper we combine a graphical approach for simultaneous localization and mapping, SLAM, with a feature representation that addresses symmetries and constraints in the feature coordinates, the measurement subspace, M-space. The graphical method has the advantages of delayed linearizations and soft commitment to feature measurement matching. It also allows large maps to be built up as a network of small local patches, star nodes. This local map net is then easier to work with. The formation of the star nodes is explicitly stable and invariant with all the symmetries of the original measurements. All linearization errors are kept small by using a local frame. The construction of this invariant star is made clearer by the M-space feature representation. The M-space allows the symmetries and constraints of the measurements to be explicitly represented. We present results using both vision and laser sensors.
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| 5. |
- Galindo, Cipriano, et al.
(författare)
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Multi-hierarchical semantic maps for mobile robotics
- 2005
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Ingår i: 2005 IEEE/RSJ international conference on intelligent robots and systems (IROS 2005). - 0780389123 ; , s. 2278-2283
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- The success of mobile robots, and particularly of those interfacing with humans in daily environments (e.g., assistant robots), relies on the ability to manipulate information beyond simple spatial relations. We are interested in semantic information, which gives meaning to spatial information like images or geometric maps. We present a multi-hierarchical approach to enable a mobile robot to acquire semantic information from its sensors, and to use it for navigation tasks. In our approach, the link between spatial and semantic information is established via anchoring. We show experiments on a real mobile robot that demonstrate its ability to use and infer new semantic information from its environment, improving its operation.
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| 6. |
- Mitsunaga, Noriaki, et al.
(författare)
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Robot Behavior Adaptation for Human-Robot Interaction based on Policy Gradient Reinforcement Learning
- 2005
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Ingår i: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005. (IROS 2005).. - : IEEE. - 0780389123 ; , s. 1594-1601
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Konferensbidrag (refereegranskat)abstract
- In this paper we propose an adaptation mechanism for robot behaviors to make robot-human interactions run more smoothly. We propose such a mechanism based on reinforcement learning, which reads minute body signals from a human partner, and uses this information to adjust interaction distances, gaze-meeting, and motion speed and timing in human-robot interaction. We show that this enables autonomous adaptation to individual preferences by an experiment with twelve subjects.
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| 7. |
- Rönnbäck, Sven, et al.
(författare)
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On passing a doorway with an autonomous Internet connected wheelchair using MATLAB
- 2005
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Ingår i: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. - Piscataway, NJ : IEEE Communications Society. - 0780389123 ; , s. 1532-1537
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Konferensbidrag (refereegranskat)abstract
- If a wheelchair for disabled is used for semi-autonomous navigation indoors it must be able to navigate through doors. A door and doorway can be parameterized with five parameters. A divide and conquer implementation of the Hough transform is used to segment outlines from range scans. The client software remote controls the wheelchair from the MATLAB environment. The software consists of several Java threads that run concurrently. Sensor data are polled by threads and put into databases to reduce the network lag. The databases are used by a controller and a Kalman filter. Since most of the implementation is coded in Java it is possible to run it as a stand alone program on a computer that has Java installed. From 10 runs the trajectory offset was calculated to 0.9 cm with a standard deviation of 1.4 cm. The standard deviation of the heading was 2.2 degrees. This performance is essentially independent of the initial starting pose
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| 8. |
- Svedman, Marcus, et al.
(författare)
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Structure from stereo vision using unsynchronised cameras for simultaneous localization and mapping
- 2005
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Ingår i: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4. - 0780389123 ; , s. 2993-2998
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Konferensbidrag (refereegranskat)abstract
- This paper presents a system for automatic reconstruction of 3D structure using two unsynchronized cameras. Three images are acquired sequentially from the left, right, and again from the left camera. A virtual image from the left camera synchronized with the right image is created by interpolating matching points of interest (SIFT features) in the two left images. Both geometric and probabilistic criteria are used to select the correct set of matching features amongst the three views. In an indoor environment, the method typically results in 3D structure with approximately 200 feature points, with a median 3D accuracy of 1.6 cm when the average depth is 3 m and the robot has moved 1-2 cm between each image acquisition.
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| 9. |
- Topp, Elin Anna, et al.
(författare)
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Tracking for following and passing persons
- 2005
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Ingår i: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4. - 0780389123 ; , s. 70-76
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Konferensbidrag (refereegranskat)abstract
- This paper presents a multiple target tracking approach for following and passing persons in the context of human-robot interaction. The general purpose for the approach is the use in Human Augmented Mapping. This concept is presented and it is described how navigation and person following are subsumed under it. Results from experiments under test conditions and from data collected during a user study are also provided.
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