| 1. |
- Kucner, Tomasz Piotr, PhD, 1988-, et al.
(författare)
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Closing Remarks
- 2020
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Ingår i: Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots. - Cham : Springer. - 9783030418076 - 9783030418083 ; , s. 143-151
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Bokkapitel (refereegranskat)abstract
- Dynamics is an inherent feature of reality. In spite of that, the domain of maps of dynamics has not received a lot of attention yet. In this book, we present solutions for building maps of dynamics and outline how to make use of them for motion planning. In this chapter, we present discuss related research question that as of yet remain to be answered, and derive possible future research directions.
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| 2. |
- Kucner, Tomasz Piotr, PhD, 1988-, et al.
(författare)
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Introduction
- 2020
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Ingår i: Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots. - Cham : Springer. - 9783030418076 - 9783030418083 ; , s. 1-13
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Bokkapitel (refereegranskat)abstract
- Change and motion are inherent features of reality. The ability to recognise patterns governing changes has allowed humans to thrive in a dynamic reality. Similarly, dynamics awareness can also improve the performance of robots. Dynamics awareness is an umbrella term covering a broad spectrum of concepts. In this chapter, we present the key aspects of dynamics awareness. We introduce two motivating examples presenting the challenges for robots operating in a dynamic environment. We discuss the benefits of using spatial models of dynamics and analyse the challenges of building such models.
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| 3. |
- Kucner, Tomasz Piotr, PhD, 1988-, et al.
(författare)
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Maps of Dynamics
- 2020
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Ingår i: Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots. - Cham : Springer. - 9783030418076 - 9783030418083 ; , s. 15-32
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Bokkapitel (refereegranskat)abstract
- The task of building maps of dynamics is the key focus of this book, as well as how to use them for motion planning. In this chapter, we present a categorisation and overview of different types of maps of dynamics. Furthermore, we give an overview of approaches to motion planning in dynamic environments, with a focus on motion planning over maps of dynamics.
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| 4. |
- Kucner, Tomasz Piotr, PhD, 1988-, et al.
(författare)
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Modelling Motion Patterns with Circular-Linear Flow Field Maps
- 2020
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Ingår i: Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots. - Cham : Springer. - 9783030418076 - 9783030418083 ; , s. 65-113
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Bokkapitel (refereegranskat)abstract
- The shared feature of the flow of discrete objects and continuous media is that they both can be represented as velocity vectors encapsulating direction and speed of motion. In this chapter, we present a method for modelling the flow of discrete objects and continuous media as continuous Gaussian mixture fields. The proposed model associates to each part of the environment a Gaussian mixture model describing the local motion patterns. We also present a learning method, designed to build the model from a set of sparse, noisy and incomplete observations.
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| 5. |
- Kucner, Tomasz Piotr, PhD, 1988-, et al.
(författare)
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Modelling Motion Patterns with Conditional Transition Map
- 2020
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Ingår i: Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots. - Cham : Springer. - 9783030418076 - 9783030418083 ; , s. 33-64
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Bokkapitel (refereegranskat)abstract
- The key idea of modelling flow of discrete objects is to capture the way they move through the environment. One method to capture the flow is to observe changes in occupancy caused by the motion of discrete objects. In this chapter, we present a method to model and learn occupancy shifts caused by an object moving through the environment. The key idea is observe temporal changes changes in the occupancy of adjacent cells, and based on the temporal offset infer the direction of the occupancy flow.
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| 6. |
- Kucner, Tomasz Piotr, PhD, 1988-, et al.
(författare)
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Motion Planning Using MoDs
- 2020
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Ingår i: Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots. - Cham : Springer. - 9783030418076 - 9783030418083 ; , s. 115-141
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Bokkapitel (refereegranskat)abstract
- Maps of dynamics can be beneficial for motion planning. Information about motion patterns in the environment can lead to finding flow-aware paths, allowing robots to align better to the expected motion: either of other agents in the environment or the flow of air or another medium. The key idea of flow-aware motion planning is to include adherence to the flow represented in the MoD into the motion planning algorithm’s sub-units (i.e. cost function, sampling mechanism), thereby biasing the motion planner into obeying local and implicit traffic rules.
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| 7. |
- Kucner, Tomasz Piotr, PhD, 1988-, et al.
(författare)
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Preface
- 2020
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Ingår i: Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots. - : Springer. - 9783030418076 - 9783030418083 ; , s. vii-x
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Bokkapitel (refereegranskat)
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| 8. |
- Kucner, Tomasz Piotr, PhD, 1988-, et al.
(författare)
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Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots
- 2020
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Bok (övrigt vetenskapligt/konstnärligt)abstract
- This book describes how robots can make sense of motion in their surroundings and use the patterns they observe to blend in better in dynamic environments shared with humans.The world around us is constantly changing. Nonetheless, we can find our way and aren’t overwhelmed by all the buzz, since motion often follows discernible patterns. Just like humans, robots need to understand the patterns behind the dynamics in their surroundings to be able to efficiently operate e.g. in a busy airport. Yet robotic mapping has traditionally been based on the static world assumption, which disregards motion altogether. In this book, the authors describe how robots can instead explicitly learn patterns of dynamic change from observations, store those patterns in Maps of Dynamics (MoDs), and use MoDs to plan less intrusive, safer and more efficient paths. The authors discuss the pros and cons of recently introduced MoDs and approaches to MoD-informed motion planning, and provide an outlook on future work in this emerging, fascinating field.
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| 9. |
- Kucner, Tomasz Piotr, PhD, 1988-, et al.
(författare)
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Robust Frequency-Based Structure Extraction
- 2021
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Ingår i: 2021 IEEE International Conference on Robotics and Automation (ICRA). - : IEEE. - 9781728190778 - 9781728190785 ; , s. 1715-1721
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Konferensbidrag (refereegranskat)abstract
- State of the art mapping algorithms can produce high-quality maps. However, they are still vulnerable to clutter and outliers which can affect map quality and in consequence hinder the performance of a robot, and further map processing for semantic understanding of the environment. This paper presents ROSE, a method for building-level structure detection in robotic maps. ROSE exploits the fact that indoor environments usually contain walls and straight-line elements along a limited set of orientations. Therefore metric maps often have a set of dominant directions. ROSE extracts these directions and uses this information to segment the map into structure and clutter through filtering the map in the frequency domain (an approach substantially underutilised in the mapping applications). Removing the clutter in this way makes wall detection (e.g. using the Hough transform) more robust. Our experiments demonstrate that (1) the application of ROSE for decluttering can substantially improve structural feature retrieval (e.g., walls) in cluttered environments, (2) ROSE can successfully distinguish between clutter and structure in the map even with substantial amount of noise and (3) ROSE can numerically assess the amount of structure in the map.
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| 10. |
- Rudenko, Andrey, 1991-, et al.
(författare)
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Benchmarking Human Motion Prediction Methods
- 2020
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- In this extended abstract we present a novel dataset for benchmarking motion prediction algorithms. We describe our approach to data collection which generates diverse and accurate human motion in a controlled weakly-scripted setup. We also give insights for building a universal benchmark for motion prediction.
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