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Numrering	Referens	Omslagsbild	Hitta
1.	Baerveldt, Albert-Jan (författare) A vision system for object verification and localization based on local features 2001 Ingår i: Robotics and Autonomous Systems. - Amsterdam : Elsevier. - 0921-8890 .- 1872-793X. ; 34:2-3, s. 83-92 Tidskriftsartikel (refereegranskat)abstract An object verification and localization system should answer the question whether an expected object is present in an image or not, i.e. verification, and if present where it is located. Such a system would be very useful for mobile robots, e.g. for landmark recognition or for the fulfilment of certain tasks. In this paper, we present an object verification and localization system specially adapted to the needs of mobile robots. The object model is based on a collection of local features derived from a small neighbourhood around automatically detected interest points. The learned representation of the object is then matched with the image under consideration. The tests, based on 81 images, showed a very satisfying tolerance to scale changes of up to 50%, to viewpoint variations of 20, to occlusion of up to 80% and to major background changes as well as to local and global illumination changes. The tests also showed that the verification capabilities are very good and that similar objects did not trigger any false verification.
2.	Baerveldt, Albert-Jan, et al. (författare) Editorial 2003 Ingår i: Robotics and Autonomous Systems. - Amsterdam : Elsevier. - 0921-8890 .- 1872-793X. ; 44:1, s. 1- Tidskriftsartikel (populärvet., debatt m.m.)
3.	Bengtsson, Ola, et al. (författare) Robot localization based on scan-matching - estimating the covariance matrix for the IDC algorithm 2003 Ingår i: Robotics and Autonomous Systems. - Amsterdam : Elsevier. - 0921-8890 .- 1872-793X. ; 44:1, s. 29-40 Tidskriftsartikel (refereegranskat)abstract We have previously presented a new scan-matching algorithm based on the IDC (iterative dual correspondence) algorithm, which showed a good localization performance even in environments with severe changes. The problem of the IDC algorithm is that there is no good way to estimate a covariance matrix of the position estimate, which prohibits an effective fusion with other position estimates of other sensors. This paper presents two new ways to estimate the covariance matrix. The first estimates the covariance matrix from the Hessian matrix of the error function minimized by the scan-matching algorithm. The second one, which is an off-line method, estimates the covariance matrix of a specific scan, from a specific position by simulating and matching scans around the position. Simulation results show that the covariance matrix provided by the off-line method fully corresponds with the real one. Some preliminary tests on real data indicate that the off-line method gives a good quality value of a specific scan position, which is of great value in map building.
4.	Coradeschi, Silvia, et al. (författare) An introduction to the anchoring problem 2003 Ingår i: Robotics and Autonomous Systems. - 0921-8890 .- 1872-793X. ; 43:2-3, s. 85-96 Tidskriftsartikel (refereegranskat)abstract Anchoring is the problem of connecting, inside an artificial system, symbols and sensor data that refer to the same physical objects in the external world. This problem needs to be solved in any robotic system that incorporates a symbolic component. However, it is only recently that the anchoring problem has started to be addressed as a problem per se, and a few general solutions have begun to appear in the literature. This paper introduces the special issue on perceptual anchoring of the Robotics and Autonomous Systems journal. Our goal is to provide a general overview of the anchoring problem, and to highlight some of its subtle points
5.	Duckett, Tom, et al. (författare) Mobile robot self-localisation using occupancy histograms and a mixture of Gaussian location hypotheses 2001 Ingår i: Robotics and Autonomous Systems. - 0921-8890 .- 1872-793X. ; 34:2-3, s. 117-129 Tidskriftsartikel (refereegranskat)abstract The topic of mobile robot self-localisation is often divided into the sub-problems of global localisation and position tracking. Both are now well understood individually, but few mobile robots can deal simultaneously with the two problems in large, complex environments. In this paper, we present a unified approach to global localisation and position tracking which is based on a topological map augmented with metric information. This method combines a new scan matching technique, using histograms extracted from local occupancy grids, with an efficient algorithm for tracking multiple location hypotheses over time. The method was validated with experiments in a series of real world environments, including its integration into a complete navigating robot. The results show that the robot can localise itself reliably in large, indoor environments using minimal computational resources
6.	Emami, Reza, et al. (författare) Systematic design and analysis of fuzzy-logic control and application to robotics : Part II. Control 2000 Ingår i: Robotics and Autonomous Systems. - 0921-8890 .- 1872-793X. ; 33:2-3, s. 89-108 Tidskriftsartikel (refereegranskat)abstract This paper (Part II) follows the task of systematic synthesis and analysis of fuzzy-logic control (FLC) systems introduced in Part I [M.R. Emami, et al., Robotics and Autonomous Systems 33 (2000) 65–88]. First, a generalized formulation of the sliding mode control is obtained for a class of nonlinear multi-input–multi-output systems. This formulation has two distinguishing features that are necessary for the formulation of the proposed approach: (i) it is applicable to “black box” systems with no need to identify the internal parameters or to assume a specific structure; (ii) it is possible to design the robust controller for each system state independently while the stability and robustness of the entire system is guaranteed. The robust fuzzy control rules are designed based on the generalized formulation to guarantee the stability and satisfactory system performance. The proposed FLC has been applied to trajectory control of the four degree-of-freedom IRIS arm (Emami et al., 2000), and was compared with high-gain PID controllers. A superior tracking performance was achieved.
7.	Emami, Reza, et al. (författare) Systematic design and analysis of fuzzy-logic control and application to robotics : Part 1. Modeling 2000 Ingår i: Robotics and Autonomous Systems. - 0921-8890 .- 1872-793X. ; 33:2-3, s. 65-88 Tidskriftsartikel (refereegranskat)abstract A systematic methodology for synthesis and analysis of fuzzy-logic controllers is proposed in this paper (Part I) and its follow up (Part II) [M.R. Emami, et al., Robotics and Autonomous Systems 33 (2000) 89–108]. A robust model-based control structure is suggested that includes a fuzzy-logic inverse dynamics model and several robust fuzzy control rules. The model encapsulates the knowledge of the system dynamics in the form of IF–THEN rules. The paper focuses on how to obtain this knowledge systematically from the input–output data of a complex system; one that is ill-defined or contains complicated phenomena that are difficult to interpret analytically. All practical steps, from data acquisition to model validation, are illustrated using a four degree-of-freedom robot manipulator. Comparing the results with those of a complete analytical model and a heuristic fuzzy modeling technique illustrates the strength of the proposed methodology in terms of capturing effects that are difficult to model. In the follow-up paper, this model is used in the proposed control structure.
8.	Fabrizi, Elisabetta, et al. (författare) Augmenting topology-based maps with geometric information 2002 Ingår i: Robotics and Autonomous Systems. - 0921-8890 .- 1872-793X. ; 40:2, s. 91-97 Tidskriftsartikel (refereegranskat)abstract Topology-based maps are a new representation of the workspace of a mobile robot, which capture the structure of the free space in the environment in terms of the basic topological notions of connectivity and adjacency. A topology-based map can represent the environment in terms of open spaces (rooms and corridors) connected by narrow passages (doors and junctions). In this paper, we show how to enrich a topology-based map with geometric information useful for the generation and execution of navigation plans. Both the topology-based map and its geometric information are automatically extracted from sensor data. We illustrate the use of topology-based maps for planned behavior-based navigation on a real robot.
9.	Kragic, Danica, et al. (författare) Visually guided manipulation tasks 2002 Ingår i: Robotics and Autonomous Systems. - 0921-8890 .- 1872-793X. ; 40:3-Feb, s. 193-203 Tidskriftsartikel (refereegranskat)abstract In this paper, we present a framework for a robotic system with the ability to perform real-world manipulation tasks. The complexity of such tasks determines the precision and freedoms controlled which also affects the robustness and the flexibility of the system. The aspect is on the development of visual system and visual tracking techniques in particular. Since precise tracking and control of a full pose of the object to be manipulated is usually less robust and computationally expensive, we integrate vision and control system where the objectives are to provide the discrete state information required to switch between control modes of different complexity. For this purpose, an integration of simple visual algorithms is used to provide a robust input to the control loop. Consensus theory is investigated as the integration strategy. In addition, a general purpose framework for integration of processes is used to implement the system on a real robot. The proposed approach results in a system which can robustly locate and grasp a door handle and then open the door.
10.	Marsland, Stephen, et al. (författare) Learning to select distinctive landmarks for mobile robot navigation 2001 Ingår i: Robotics and Autonomous Systems. - 0921-8890 .- 1872-793X. ; 37:4, s. 241-260 Tidskriftsartikel (refereegranskat)abstract In landmark-based navigation systems for mobile robots, sensory perceptions (e.g., laser or sonar scans) are used to identify the robot’s current location or to construct internal representations, maps, of the robot’s environment. Being based on an external frame of reference (which is not subject to incorrigible drift errors such as those occurring in odometry-based systems), landmark-based robot navigation systems are now widely used in mobile robot applications.The problem that has attracted most attention to date in landmark-based navigation research is the question of how to deal with perceptual aliasing, i.e., perceptual ambiguities. In contrast, what constitutes a good landmark, or how to select landmarks for mapping, is still an open research topic. The usual method of landmark selection is to map perceptions at regular intervals, which has the drawback of being inefficient and possibly missing ‘good’ landmarks that lie between sampling points.In this paper, we present an automatic landmark selection algorithm that allows a mobile robot to select conspicuous landmarks from a continuous stream of sensory perceptions, without any pre-installed knowledge or human intervention during the selection process. This algorithm can be used to make mapping mechanisms more efficient and reliable. Experimental results obtained with two different mobile robots in a range of environments are presented and analysed.
11.	Severinson Eklundh, Kerstin, et al. (författare) Social and collaborative aspects of interaction with a service robot 2003 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 42:04-mar, s. 223-234 Tidskriftsartikel (refereegranskat)abstract To an increasing extent, robots are being designed to become a part of the lives of ordinary people. This calls for new models of the interaction between humans and robots, taking advantage of human social and communicative skills. Furthermore, human-robot relationships must be understood in the context of use of robots, and based on empirical studies of humans and robots in real settings. This paper discusses social aspects of interaction with a service robot, departing from our experiences of designing a fetch-and-carry robot for motion-impaired users in an office environment. We present the motivations behind the design of the Cero robot, especially its communication paradigm. Finally, we discuss experiences from a recent usage study, and research issues emerging from this work. A conclusion is that addressing only the primary user in service robotics is unsatisfactory, and that the focus should be on the setting, activities and social interactions of the group of people where the robot is to be used.
12.	Severinson-Eklundh, Kerstin, et al. (författare) Social and collaborative aspects of interaction with a service robot 2003 Ingår i: Robotics and Autonomous Systems. - : Elsevier. - 0921-8890 .- 1872-793X. ; 42:3-4, s. 223-234 Tidskriftsartikel (refereegranskat)abstract To an increasing extent, robots are being designed to become a part of the lives of ordinary people. This calls for new models of the interaction between humans and robots, taking advantage of human social and communicative skills. Furthermore, human-robot relationships must be understood in the context of use of robots, and based on empirical studies of humans and robots in real settings. This paper discusses social aspects of interaction with a service robot, departing from our experiences of designing a fetch-and-carry robot for motion-impaired users in an office environment. We present the motivations behind the design of the Cero robot, especially its communication paradigm. Finally, we discuss experiences from a recent usage study, and research issues emerging from this work. A conclusion is that addressing only the primary user in service robotics is unsatisfactory, and that the focus should be on the setting, activities and social interactions of the group of people where the robot is to be used.
13.	Aarno, Daniel, et al. (författare) Motion intention recognition in robot assisted applications 2008 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 56:8, s. 692-705 Tidskriftsartikel (refereegranskat)abstract Acquiring, representing and modelling human skills is one of the key research areas in teleoperation, programming-by-demonstration and human-machine collaborative settings. The problems are challenging mainly because of the lack of a general mathematical model to describe human skills. One of the common approaches is to divide the task that the operator is executing into several subtasks or low-level subsystems in order to provide manageable modelling. In this paper we consider the use of a Layered Hidden Markov Model (LHMM) to model human skills. We evaluate a gesteme classifier that classifies motions into basic action-primitives, or gestemes. The gesteme classifiers are then used in a LHMM to model a teleoperated task. The proposed methodology uses three different HMM models at the gesteme level: one-dimensional HMM, multi-dimensional HMM and multidimensional HMM with Fourier transform. The online and off-line classification performance of these three models is evaluated with respect to the number of gestemes, the influence of the number of training samples, the effect of noise and the effect of the number of observation symbols. We also apply the LHMM to data recorded during the execution of a trajectory tracking task in 2D and 3D with a mobile manipulator in order to provide qualitative as well as quantitative results for the proposed approach. The results indicate that the LHMM is suitable for modelling teleoperative trajectory-tracking tasks and that the difference in classification performance between one and multidimensional HMMs for gesteme classification is small. It can also be seen that the LHMM is robust with respect to misclassifications in the underlying gesteme classifiers.
14.	Adolfsson, Daniel, 1992-, et al. (författare) CorAl : Introspection for robust radar and lidar perception in diverse environments using differential entropy 2022 Ingår i: Robotics and Autonomous Systems. - : Elsevier. - 0921-8890 .- 1872-793X. ; 155 Tidskriftsartikel (refereegranskat)abstract Robust perception is an essential component to enable long-term operation of mobile robots. It depends on failure resilience through reliable sensor data and pre-processing, as well as failure awareness through introspection, for example the ability to self-assess localization performance. This paper presents CorAl: a principled, intuitive, and generalizable method to measure the quality of alignment between pairs of point clouds, which learns to detect alignment errors in a self-supervised manner. CorAl compares the differential entropy in the point clouds separately with the entropy in their union to account for entropy inherent to the scene. By making use of dual entropy measurements, we obtain a quality metric that is highly sensitive to small alignment errors and still generalizes well to unseen environments. In this work, we extend our previous work on lidar-only CorAl to radar data by proposing a two-step filtering technique that produces high-quality point clouds from noisy radar scans. Thus, we target robust perception in two ways: by introducing a method that introspectively assesses alignment quality, and by applying it to an inherently robust sensor modality. We show that our filtering technique combined with CorAl can be applied to the problem of alignment classification, and that it detects small alignment errors in urban settings with up to 98% accuracy, and with up to 96% if trained only in a different environment. Our lidar and radar experiments demonstrate that CorAl outperforms previous methods both on the ETH lidar benchmark, which includes several indoor and outdoor environments, and the large-scale Oxford and MulRan radar data sets for urban traffic scenarios. The results also demonstrate that CorAl generalizes very well across substantially different environments without the need of retraining.
15.	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.
16.	Andreasson, Henrik, et al. (författare) Self-localization in non-stationary environments using omni-directional vision 2007 Ingår i: Robotics and Autonomous Systems. - Amsterdam : Elsevier. - 0921-8890 .- 1872-793X. ; 55:7, s. 541-551 Tidskriftsartikel (refereegranskat)abstract This paper presents an image-based approach for localization in non-static environments using local feature descriptors, and its experimental evaluation in a large, dynamic, populated environment where the time interval between the collected data sets is up to two months. By using local features together with panoramic images, robustness and invariance to large changes in the environment can be handled. Results from global place recognition with no evidence accumulation and a Monte Carlo localization method are shown. To test the approach even further, experiments were conducted with up to 90% virtual occlusion in addition to the dynamic changes in the environment
17.	Asadi, Sahar, 1983-, et al. (författare) Time-dependent gas distribution modelling 2017 Ingår i: Robotics and Autonomous Systems. - : Elsevier. - 0921-8890 .- 1872-793X. ; 96, s. 157-170 Tidskriftsartikel (refereegranskat)abstract Artificial olfaction can help to address pressing environmental problems due to unwanted gas emissions. Sensor networks and mobile robots equipped with gas sensors can be used for e.g. air pollution monitoring. Key in this context is the ability to derive truthful models of gas distribution from a set of sparse measurements. Most statistical gas distribution modelling methods assume that gas dispersion is a time constant random process. While this assumption approximately holds in some situations, it is necessary to model variations over time in order to enable applications of gas distribution modelling in a wider range of realistic scenarios. Time-invariant approaches cannot model well evolving gas plumes, for example, or major changes in gas dispersion due to a sudden change of the environmental conditions. This paper presents two approaches to gas distribution modelling, which introduce a time-dependency and a relation to a time-scale in generating the gas distribution model either by sub-sampling or by introducing a recency weight that relates measurement and prediction time. We evaluated these approaches in experiments performed in two real environments as well as on several simulated experiments. As expected, the comparison of different sub-sampling strategies revealed that more recent measurements are more informative to derive an estimate of the current gas distribution as long as a sufficient spatial coverage is given. Next, we compared a time-dependent gas distribution modelling approach (TD Kernel DM+V), which includes a recency weight, to the state-of-the-art gas distribution modelling approach (Kernel DM+V), which does not consider sampling times. The results indicate a consistent improvement in the prediction of unseen measurements, particularly in dynamic scenarios. Furthermore, this paper discusses the impact of meta-parameters in model selection and compares the performance of time-dependent GDM in different plume conditions. Finally, we investigated how to set the target time for which the model is created. The results indicate that TD Kernel DM+V performs best when the target time is set to the maximum sampling time in the test set.
18.	Asif, Rizwan, et al. (författare) Whole-body motion and footstep planning for humanoid robots with multi-heuristic search 2019 Ingår i: Robotics and Autonomous Systems. - : ELSEVIER SCIENCE BV. - 0921-8890 .- 1872-793X. ; 116, s. 51-63 Tidskriftsartikel (refereegranskat)abstract In this paper, we present a motion planning framework for humanoid robots that combines whole-body motions as well as footsteps under a quasi-static flat ground plane assumption. Traditionally, these two have been treated as separate research domains. One of the major challenges behind whole body motion planning is the high DoF (Degrees of Freedom) nature of the problem, in addition to strict constraints on obstacle avoidance and stability. On the other hand footstep planning on its own is a comparatively simpler problem due to the low DoF search space, but coalescing it into a larger framework that includes whole-body motion planning adds further complexity in reaching a solution within a suitable time frame that satisfies all the constraints. In this work, we treat motion planning as a graph search problem, and employ Shared Multi-heuristic A* (SMHA*) to generate efficient, stable and collision-free motion plans given only the starting state of the robot and the desired end-effector pose.
19.	Bohg, Jeannette, et al. (författare) Learning grasping points with shape context 2010 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 58:4, s. 362-377 Tidskriftsartikel (refereegranskat)abstract This paper presents work on vision based robotic grasping. The proposed method adopts a learning framework where prototypical grasping points are learnt from several examples and then used on novel objects. For representation purposes, we apply the concept of shape context and for learning we use a supervised learning approach in which the classifier is trained with labelled synthetic images. We evaluate and compare the performance of linear and non-linear classifiers. Our results show that a combination of a descriptor based on shape context with a non-linear classification algorithm leads to a stable detection of grasping points for a variety of objects.
20.	Bore, Nils, et al. (författare) Efficient retrieval of arbitrary objects from long-term robot observations 2017 Ingår i: Robotics and Autonomous Systems. - : ELSEVIER SCIENCE BV. - 0921-8890 .- 1872-793X. ; 91, s. 139-150 Tidskriftsartikel (refereegranskat)abstract We present a novel method for efficient querying and retrieval of arbitrarily shaped objects from large amounts of unstructured 3D point cloud data. Our approach first performs a convex segmentation of the data after which local features are extracted and stored in a feature dictionary. We show that the representation allows efficient and reliable querying of the data. To handle arbitrarily shaped objects, we propose a scheme which allows incremental matching of segments based on similarity to the query object. Further, we adjust the feature metric based on the quality of the query results to improve results in a second round of querying. We perform extensive qualitative and quantitative experiments on two datasets for both segmentation and retrieval, validating the results using ground truth data. Comparison with other state of the art methods further enforces the validity of the proposed method. Finally, we also investigate how the density and distribution of the local features within the point clouds influence the quality of the results.
21.	Bouguerra, Abdelbaki, et al. (författare) Monitoring the execution of robot plans using semantic knowledge 2008 Ingår i: Robotics and Autonomous Systems. - Amsterdam : North-Holland Publishing Co. - 0921-8890 .- 1872-793X. ; 56:11, s. 942-954 Tidskriftsartikel (refereegranskat)abstract Even the best laid plans can fail, and robot plans executed in real world domains tend to do so often. The ability of a robot to reliably monitor the execution of plans and detect failures is essential to its performance and its autonomy. In this paper, we propose a technique to increase the reliability of monitoring symbolic robot plans. We use semantic domain knowledge to derive implicit expectations of the execution of actions in the plan, and then match these expectations against observations. We present two realizations of this approach: a crisp one, which assumes deterministic actions and reliable sensing, and uses a standard knowledge representation system (LOOM); and a probabilistic one, which takes into account uncertainty in action effects, in sensing, and in world states. We perform an extensive validation of these realizations through experiments performed both in simulation and on real robots.
22.	Bruns, Leonard, et al. (författare) RGB-D-based categorical object pose and shape estimation : Methods, datasets, and evaluation 2023 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 168 Tidskriftsartikel (refereegranskat)abstract Recently, various methods for 6D pose and shape estimation of objects at a per-category level have been proposed. This work provides an overview of the field in terms of methods, datasets, and evaluation protocols. First, an overview of existing works and their commonalities and differences is provided. Second, we take a critical look at the predominant evaluation protocol, including metrics and datasets. Based on the findings, we propose a new set of metrics, contribute new annotations for the Redwood dataset, and evaluate state-of-the-art methods in a fair comparison. The results indicate that existing methods do not generalize well to unconstrained orientations and are actually heavily biased towards objects being upright. We provide an easy-to-use evaluation toolbox with well-defined metrics, methods, and dataset interfaces, which allows evaluation and comparison with various state-of-the-art approaches (https://github.com/roym899/pose_and_shape_evaluation).
23.	Cielniak, Grzegorz, et al. (författare) Data association and occlusion handling for vision-based people tracking by mobile robots 2010 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 58:5, s. 435-443 Tidskriftsartikel (refereegranskat)abstract This paper presents an approach for tracking multiple persons on a mobile robot with a combination of colour and thermal vision sensors, using several new techniques. First, an adaptive colour model is incorporated into the measurement model of the tracker. Second, a new approach for detecting occlusions is introduced, using a machine learning classifier for pairwise comparison of persons (classifying which one is in front of the other). Third, explicit occlusion handling is incorporated into the tracker. The paper presents a comprehensive, quantitative evaluation of the whole system and its different components using several real world data sets. (C) 2010 Elsevier B.V. All rights reserved.
24.	Cortinhal, Tiago, 1990-, et al. (författare) Depth- and semantics-aware multi-modal domain translation : Generating 3D panoramic color images from LiDAR point clouds 2024 Ingår i: Robotics and Autonomous Systems. - Amsterdam : Elsevier. - 0921-8890 .- 1872-793X. ; 171, s. 1-9 Tidskriftsartikel (refereegranskat)abstract This work presents a new depth-and semantics-aware conditional generative model, named TITAN-Next, for cross-domain image-to-image translation in a multi-modal setup between LiDAR and camera sensors. The proposed model leverages scene semantics as a mid-level representation and is able to translate raw LiDAR point clouds to RGB-D camera images by solely relying on semantic scene segments. We claim that this is the first framework of its kind and it has practical applications in autonomous vehicles such as providing a fail-safe mechanism and augmenting available data in the target image domain. The proposed model is evaluated on the large-scale and challenging Semantic-KITTI dataset, and experimental findings show that it considerably outperforms the original TITAN-Net and other strong baselines by 23.7% margin in terms of IoU. © 2023 The Author(s).
25.	Dogan, Fethiye Irmak, et al. (författare) The impact of adding perspective-taking to spatial referencing during human-robot interaction 2020 Ingår i: Robotics and Autonomous Systems. - : ELSEVIER. - 0921-8890 .- 1872-793X. ; 134 Tidskriftsartikel (refereegranskat)abstract For effective verbal communication in collaborative tasks, robots need to account for the different perspectives of their human partners when referring to objects in a shared space. For example, when a robot helps its partner find correct pieces while assembling furniture, it needs to understand how its collaborator perceives the world and refer to objects accordingly. In this work, we propose a method to endow robots with perspective-taking abilities while spatially referring to objects. To examine the impact of our proposed method, we report the results of a user study showing that when the objects are spatially described from the users' perspectives, participants take less time to find the referred objects, find the correct objects more often and consider the task easier.
26.	Doulgeri, Zoe, et al. (författare) Force position control for a robot finger with a soft tip and kinematic uncertainties 2007 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 55:4, s. 328-336 Tidskriftsartikel (refereegranskat)abstract We consider the problem of force and position regulation for a robot finger with a soft tip in contact with a surface with unknown geometrical characteristics. An adaptive controller is proposed, and the asymptotic convergence of the applied force error and the estimated position error of the tip to zero is shown for the spatial case. Simulation results demonstrate the controller performance.
27.	Drimus, Alin, et al. (författare) Design of a flexible tactile sensor for classification of rigid and deformable objects 2014 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 62:1, s. 3-15 Tidskriftsartikel (refereegranskat)abstract For both humans and robots, tactile sensing is important for interaction with the environment: it is the core sensing used for exploration and manipulation of objects. In this paper, we present a novel tactile-array sensor based on flexible piezoresistive rubber. We describe the design of the sensor and data acquisition system. We evaluate the sensitivity and robustness of the sensor, and show that it is consistent over time with little relaxation. Furthermore, the sensor has the benefit of being flexible, having a high resolution, it is easy to mount, and simple to manufacture. We demonstrate the use of the sensor in an active object-classification system. A robotic gripper with two sensors mounted on its fingers performs a palpation procedure on a set of objects. By squeezing an object, the robot actively explores the material properties, and the system acquires tactile information corresponding to the resulting pressure. Based on a k nearest neighbor classifier and using dynamic time warping to calculate the distance between different time series, the system is able to successfully classify objects. Our sensor demonstrates similar classification performance to the Weiss Robotics tactile sensor, while having additional benefits.
28.	Duckett, Tom, et al. (författare) Special Issue : Selected Papers from the 5th European Conference on Mobile Robots (ECMR 2011) 2013 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 61:10, s. 1049-1050 Tidskriftsartikel (övrigt vetenskapligt/konstnärligt)
29.	Fletcher, L., et al. (författare) Correlating driver gaze with the road scene for driver assistance systems 2005 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 52:1, s. 71-84 Tidskriftsartikel (refereegranskat)abstract A driver assistance system (DAS) should support the driver by monitoring road and vehicle events and presenting relevant and timely information to the driver. It is impossible to know what a driver is thinking, but we can monitor the driver's gaze direction and compare it with the position of information in the driver's viewfield to make inferences. In this way, not only do we monitor the driver's actions, we monitor the driver's observations as well. In this paper we present the automated detection and recognition of road signs, combined with the monitoring of the driver's response. We present a complete system that reads speed signs in real-time, compares the driver's gaze, and provides immediate feedback if it appears the sign has been missed by the driver.
30.	Fonooni, Benjamin, 1980-, et al. (författare) Applying Ant Colony Optimization Algorithms for High-Level Behavior Learning and Reproduction from Demonstrations 2015 Ingår i: Robotics and Autonomous Systems. - : Elsevier. - 0921-8890 .- 1872-793X. ; 65, s. 24-39 Tidskriftsartikel (refereegranskat)abstract In domains where robots carry out human’s tasks, the ability to learn new behaviors easily and quickly plays an important role. Two major challenges with Learning from Demonstration (LfD) are to identify what information in a demonstrated behavior requires attention by the robot, and to generalize the learned behavior such that the robot is able to perform the same behavior in novel situations. The main goal of this paper is to incorporate Ant Colony Optimization (ACO) algorithms into LfD in an approach that focuses on understanding tutor's intentions and learning conditions to exhibit a behavior. The proposed method combines ACO algorithms with semantic networks and spreading activation mechanism to reason and generalize the knowledge obtained through demonstrations. The approach also provides structures for behavior reproduction under new circumstances. Finally, applicability of the system in an object shape classification scenario is evaluated.
31.	Galindo, Cipriano, et al. (författare) Inferring robot goals from violations of semantic knowledge 2013 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 61:10, s. 1131-1143 Tidskriftsartikel (refereegranskat)abstract A growing body of literature shows that endowing a mobile robot with semantic knowledge and with the ability to reason from this knowledge can greatly increase its capabilities. In this paper, we present a novel use of semantic knowledge, to encode information about how things should be, i.e. norms, and to enable the robot to infer deviations from these norms in order to generate goals to correct these deviations. For instance, if a robot has semantic knowledge that perishable items must be kept in a refrigerator, and it observes a bottle of milk on a table, this robot will generate the goal to bring that bottle into a refrigerator. The key move is to properly encode norms in an ontology so that each norm violation results in a detectable inconsistency. A goal is then generated to bring the world back in a consistent state, and a planner is used to transform this goal into actions. Our approach provides a mobile robot with a limited form of goal autonomy: the ability to derive its own goals to pursue generic aims. We illustrate our approach in a full mobile robot system that integrates a semantic map, a knowledge representation and reasoning system, a task planner, and standard perception and navigation routines. (C) 2013 Elsevier B.V. All rights reserved.
32.	Galindo, Cipriano, et al. (författare) Robot Task Planning Using Semantic Maps 2008 Ingår i: Robotics and Autonomous Systems. - Amsterdam : Elsevier. - 0921-8890 .- 1872-793X. ; 56:11, s. 955-966 Tidskriftsartikel (refereegranskat)abstract Task planning for mobile robots usually relies solely on spatial information and on shallow domain knowledge, like labels attached to objects and places. Although spatial information is necessary for performing basic robot operations (navigation and localization), the use of deeper domain knowledge is pivotal to endow a robot with higher degrees of autonomy and intelligence. In this paper, we focus on semantic knowledge, and show how this type of knowledge can be profitably used for robot task planning. We start by defining a specific type of semantic maps, which integrate hierarchical spatial information and semantic knowledge. We then proceed to describe how these semantic maps can improve task planning in two ways: extending the capabilities of the planner by reasoning about semantic information, and improving the planning efficiency in large domains. We show several experiments that demonstrate the effectiveness of our solutions in a domain involving robot navigation in a domestic environment.
33.	Gandler, Gabriela Zarzar, et al. (författare) Object shape estimation and modeling, based on sparse Gaussian process implicit surfaces, combining visual data and tactile exploration 2020 Ingår i: Robotics and Autonomous Systems. - : ELSEVIER. - 0921-8890 .- 1872-793X. ; 126 Tidskriftsartikel (refereegranskat)abstract Inferring and representing three-dimensional shapes is an important part of robotic perception. However, it is challenging to build accurate models of novel objects based on real sensory data, because observed data is typically incomplete and noisy. Furthermore, imperfect sensory data suggests that uncertainty about shapes should be explicitly modeled during shape estimation. Such uncertainty models can usefully enable exploratory action planning for maximum information gain and efficient use of data. This paper presents a probabilistic approach for acquiring object models, based on visual and tactile data. We study Gaussian Process Implicit Surface (GPIS) representation. GPIS enables a non-parametric probabilistic reconstruction of object surfaces from 3D data points, while also providing a principled approach to encode the uncertainty associated with each region of the reconstruction. We investigate different configurations for GPIS, and interpret an object surface as the level-set of an underlying sparse GP. Experiments are performed on both synthetic data, and also real data sets obtained from two different robots physically interacting with objects. We evaluate performance by assessing how close the reconstructed surfaces are to ground-truth object models. We also evaluate how well objects from different categories are clustered, based on the reconstructed surface shapes. Results show that sparse GPs enable a reliable approximation to the full GP solution, and the proposed method yields adequate surface representations to distinguish objects. Additionally the presented approach is shown to provide computational efficiency, and also efficient use of the robot's exploratory actions.
34.	Gugliermo, Simona, 1995-, et al. (författare) Evaluating behavior trees 2024 Ingår i: Robotics and Autonomous Systems. - : Elsevier. - 0921-8890 .- 1872-793X. ; 178 Tidskriftsartikel (refereegranskat)abstract Behavior trees (BTs) are increasingly popular in the robotics community. Yet in the growing body of published work on this topic, there is a lack of consensus on what to measure and how to quantify BTs when reporting results. This is not only due to the lack of standardized measures, but due to the sometimes ambiguous use of definitions to describe BT properties. This work provides a comprehensive overview of BT properties the community is interested in, how they relate to each other, the metrics currently used to measure BTs, and whether the metrics appropriately quantify those properties of interest. Finally, we provide the practitioner with a set of metrics to measure, as well as insights into the properties that can be derived from those metrics. By providing this holistic view of properties and their corresponding evaluation metrics, we hope to improve clarity when using BTs in robotics. This more systematic approach will make reported results more consistent and comparable when evaluating BTs.
35.	Hernandez, Alejandra C., et al. (författare) Exploiting the confusions of semantic places to improve service robotic tasks in indoor environments 2023 Ingår i: Robotics and Autonomous Systems. - : Elsevier. - 0921-8890 .- 1872-793X. ; 159 Tidskriftsartikel (refereegranskat)abstract A significant challenge in service robots is the semantic understanding of their surrounding areas. Traditional approaches addressed this problem by segmenting the environment into regions corresponding to full rooms that are assigned labels consistent with human perception, e.g. office or kitchen. However, different areas inside the same room can be used in different ways: Could the table and the chair in my kitchen become my office ? What is the category of that area now? office or kitchen? To adapt to these circumstances we propose a new paradigm where we intentionally relax the resulting labeling of place classifiers by allowing confusions, and by avoiding further filtering leading to clean full room classifications. Our hypothesis is that confusions can be beneficial to a service robot and, therefore, they can be kept and better exploited. Our approach creates a subdivision of the environment into different regions by maintaining the confusions which are due to the scene appearance or to the distribution of objects. In this paper, we present a proof of concept implemented in simulated and real scenarios, that improves efficiency in the robotic task of searching for objects by exploiting the confusions in place classifications.
36.	Hertzberg, Joachim, et al. (författare) Using semantic knowledge in robotics 2008 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 56:11, s. 875-877 Tidskriftsartikel (refereegranskat)abstract There is a growing tendency to introduce high-level semantic knowledge into robotic systems and beyond. This tendency is visible in different forms within several areas of robotics. Recent work in mapping and localization tries to extract semantically meaningful structures from sensor data during map building, or to use semantic knowledge in the map building process, or both. A similar trend characterizes the cognitive vision approach to scene understanding. Recent efforts in human–robot interaction try to endow the robot with some understanding of the human meaning of words, gestures and expressions. Ontological knowledge is increasingly being used in distributed systems in order to allow automatic re-configuration in the areas of flexible automation and of ubiquitous robotics. Ontological knowledge was also used recently to improve the inter-operability of robotic components developed for different systems.While these trends have many questions and issues in common, work on each one of them is often pursued in isolation within a specific area, without being aware of the related achievements in other areas. The aim of this special issue is to collect in a single place a set of advanced, high-quality papers that tackle the problem of using semantic knowledge in robotics in many of its different forms.The submissions to this special issue made it clear that there are many ways in which semantic knowledge may play a role in robotics. Interestingly, they also revealed that there are many ways in which the term semantic knowledge is being interpreted. Before turning to the technical papers, then, it is worth spending a few words on this matter.
37.	Hoang, Dinh-Cuong, 1991-, et al. (författare) Object-RPE : Dense 3D Reconstruction and Pose Estimation with Convolutional Neural Networks 2020 Ingår i: Robotics and Autonomous Systems. - : Elsevier. - 0921-8890 .- 1872-793X. ; 133 Tidskriftsartikel (refereegranskat)abstract We present an approach for recognizing objects present in a scene and estimating their full pose by means of an accurate 3D instance-aware semantic reconstruction. Our framework couples convolutional neural networks (CNNs) and a state-of-the-art dense Simultaneous Localisation and Mapping(SLAM) system, ElasticFusion [1], to achieve both high-quality semantic reconstruction as well as robust 6D pose estimation for relevant objects. We leverage the pipeline of ElasticFusion as a back-bone and propose a joint geometric and photometric error function with per-pixel adaptive weights. While the main trend in CNN-based 6D pose estimation has been to infer an object’s position and orientation from single views of the scene, our approach explores performing pose estimation from multiple viewpoints, under the conjecture that combining multiple predictions can improve the robustness of an object detection system. The resulting system is capable of producing high-quality instance-aware semantic reconstructions of room-sized environments, as well as accurately detecting objects and their 6D poses. The developed method has been verified through extensive experiments on different datasets. Experimental results confirmed that the proposed system achieves improvements over state-of-the-art methods in terms of surface reconstruction and object pose prediction. Our code and video are available at https://sites.google.com/view/object-rpe.
38.	Honarpardaz, Mohammadali, et al. (författare) Experimental verification of design automation methods for robotic finger 2017 Ingår i: Robotics and Autonomous Systems. - : ELSEVIER SCIENCE BV. - 0921-8890 .- 1872-793X. ; 94, s. 89-101 Tidskriftsartikel (refereegranskat)abstract Design automation of industrial grippers is a hot research topic for robot industries. However, literature lacks a standard experimental method to enable researchers to validate their approaches. Thus, this paper proposes a generic experimental method to verify existing finger design approaches. The introduced method is utilized to validate the methods Generic Automated Finger Design (GAFD), Manually Designed Fingers (MDF) and the eGrip tool. Experimental results are compared and the strengths and weaknesses of each method are presented. (C) 2017 The Authors. Published by Elsevier B.V.
39.	Honarpardaz, Mohammadali, 1986-, et al. (författare) Fast finger design automation for industrial robots 2019 Ingår i: Robotics and Autonomous Systems. - : Elsevier. - 0921-8890 .- 1872-793X. ; 113, s. 120-131 Tidskriftsartikel (refereegranskat)abstract Finger design automation is highly demanded from robot industries to fulfill the requirements of the agile market. Nevertheless, literature lacks a promising approach to automate the design process of reliable fingers for industrial robots. Hence, this work proposes the generic optimized finger design (GOFD) method which automates the design process of single- and multi-function finger grippers. The proposed method includes an optimization algorithm to minimize the design process time. The method is utilized to generate fingers for several groups of objects. Results show that the GOFD method outperforms existing methods and is able to reduce the design time by an average of 16,600 s. While the proposed method substantially reduces the design process time of fingers, the quality of grasps is comparable to the traditional exhaustive search method. The grasp quality of GOFD deviates only 0.47% from the absolute best grasp known from the exhaustive search method in average. The designed fingers are lastly manufactured and experimentally verified.
40.	Huebner, Kai (författare) BADGr-A toolbox for box-based approximation, decomposition and GRasping 2012 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 60:3, s. 367-376 Tidskriftsartikel (refereegranskat)abstract In this paper, we conclude our work on shape approximation by box primitives for the goal of simple and efficient grasping. As a main product of our research, we present the BADGr toolbox for Box-based Approximation, Decomposition and Grasping of objects. The contributions of the work presented here are twofold: in terms of shape approximation, we provide an algorithm for creating a 3D box primitive representation to identify object parts from 3D point clouds. We motivate and evaluate this choice particularly towards the task of grasping. As a contribution in the field of grasping, we further provide a grasp hypothesis generation framework that utilizes the chosen box presentation in a flexible manner.
41.	Iovino, Matteo, et al. (författare) A survey of Behavior Trees in robotics and AI 2022 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 154 Tidskriftsartikel (refereegranskat)abstract Behavior Trees (BTs) were invented as a tool to enable modular AI in computer games, but have received an increasing amount of attention in the robotics community in the last decade. With rising demands on agent AI complexity, game programmers found that the Finite State Machines (FSM) that they used scaled poorly and were difficult to extend, adapt and reuse. In BTs, the state transition logic is not dispersed across the individual states, but organized in a hierarchical tree structure, with the states as leaves. This has a significant effect on modularity, which in turn simplifies both synthesis and analysis by humans and algorithms alike. These advantages are needed not only in game AI design, but also in robotics, as is evident from the research being done. In this paper we present a comprehensive survey of the topic of BTs in Artificial Intelligence and Robotic applications. The existing literature is described and categorized based on methods, application areas and contributions, and the paper is concluded with a list of open research challenges.
42.	Karasalo, Maja, 1979-, et al. (författare) Contour Reconstruction using Recursive Smoothing Splines - Algorithms and Experimental Validation 2009 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 57:6-7, s. 617-628 Tidskriftsartikel (refereegranskat)abstract In this paper, a recursive smoothing splineapproach for contour reconstruction is studied and evaluated. Periodic smoothing splines areused by a robot to approximate the contour of encountered obstaclesin the environment. The splines are generated through minimizing acost function subject to constraints imposed by a linear controlsystem and accuracy is improved iteratively using a recursive splinealgorithm. The filtering effect of the smoothing splines allows forusage of noisy sensor data and the method is robust with respect to odometrydrift. The algorithm is extensively evaluated in simulationsfor various contours and in experiments using a SICK laser scanner mounted on a PowerBot fromActivMedia Robotics
43.	Karasalo, Maja, 1979-, et al. (författare) Robust Formation Control using Switching Range Sensors 2010 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 58:8, s. 1003-1016 Tidskriftsartikel (refereegranskat)abstract In this paper, control algorithms are presented for formation keeping and path followingfor non-holonomic platforms. The controls are based on feedback from onboard directional range sensors, and a switching Kalman filter is introduced for active sensing.Stability is analyzed theoretically and robustness isdemonstrated in experiments and simulations.
44.	Karayiannidis, Yiannis, 1980-, et al. (författare) Model-free robot joint position regulation and tracking with prescribed performance guarantees 2012 Ingår i: Robotics and Autonomous Systems. - : Elsevier. - 0921-8890 .- 1872-793X. ; 60:2, s. 214-226 Tidskriftsartikel (refereegranskat)abstract The problem of robot joint position control with prescribed performance guarantees is considered; the control objective is the error evolution within prescribed performance bounds in both problems of regulation and tracking. The proposed controllers do not utilize either the robot dynamic model or any approximation structures and are composed by simple PID or PD controllers enhanced by a proportional term of a transformed error through a transformation related gain. Under a sufficient condition for the damping gain, the proposed controllers are able to guarantee (i) predefined minimum speed of convergence, maximum steady state error and overshoot concerning the position error and (ii) uniformly ultimate boundedness (UUB) of the velocity error. The use of the integral term reduces residual errors allowing the proof of asymptotic convergence of both velocity and position errors to zero for the regulation problem under constant disturbances. Performance is a priori guaranteed irrespective of the selection of the control gain values. Simulation results of a three dof spatial robotic manipulator and experimental results of one dof manipulator are given to confirm the theoretical findings.
45.	Karayiannidis, Yiannis, 1980-, et al. (författare) Robot contact tasks in the presence of control target distortions 2010 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 58:5, s. 596-606 Tidskriftsartikel (refereegranskat)abstract This work refers to the problem of controlling robot motion and force in frictional contacts under environmental errors and particularly orientation errors that distort the desired control targets and control subspaces. The proposed method uses online estimates of the surface normal (tangent) direction to dynamically modify the control target and control space decomposition. It is proved that these estimates converge to the actual value even though the elasticity and friction parameters are unknown. The proposed control solution is demonstrated through simulation examples in three-dimensional robot motion tasks contacting both planar and curved surfaces.
46.	Kootstra, Gert, 1978-, et al. (författare) Tackling the Premature Convergence Problem in Monte-Carlo Localization 2009 Ingår i: Robotics and Autonomous Systems. - Amsterdam, The Netherlands : Elsevier. - 0921-8890 .- 1872-793X. ; 57:11, s. 1107-1118 Tidskriftsartikel (refereegranskat)abstract Monte-Carlo localization uses particle filtering to estimate the position of the robot. The method is known to suffer from the loss of potential positions when there is ambiguity present in the environment. Since many indoor environments are highly symmetric, this problem of premature convergence is problematic for indoor robot navigation. It is, however, rarely studied in particle filters. We introduce a number of so-called niching methods used in genetic algorithms, and implement them on a particle filter for Monte-Carlo localization. The experiments show a significant improvement in the diversity maintaining performance of the particle filter.
47.	Kostavelis, I., et al. (författare) Collision risk assessment for autonomous robots by offline traversability learning 2012 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 60:11, s. 1367-1376 Tidskriftsartikel (refereegranskat)abstract Autonomous robots should be able to move freely in unknown environments and avoid impacts with obstacles. The overall traversability estimation of the terrain and the subsequent selection of an obstacle-free route are prerequisites of a successful autonomous operation. This work proposes a computationally efficient technique for the traversability estimation of the terrain, based on a machine learning classification method. Additionally, a new method for collision risk assessment is introduced. The proposed system uses stereo vision as a first step in order to obtain information about the depth of the scene. Then, a v-disparity image calculation processing step extracts information-rich features about the characteristics of the scene, which are used to train a support vector machine (SVM) separating the traversable and non-traversable scenes. The ones classified as traversable are further processed exploiting the polar transformation of the depth map. The result is a distribution of obstacle existence likelihoods for each direction, parametrized by the robot's embodiment.
48.	Koval, Anton, et al. (författare) Dataset collection from a SubT environment 2022 Ingår i: Robotics and Autonomous Systems. - : Elsevier. - 0921-8890 .- 1872-793X. ; 155 Tidskriftsartikel (refereegranskat)abstract This article presents a dataset collected from the subterranean (SubT) environment with a current state-of-the-art sensors required for autonomous navigation. The dataset includes sensor measurements collected with RGB, RGB-D, event-based and thermal cameras, 2D and 3D lidars, inertial measurement unit (IMU), and ultra wideband (UWB) positioning systems which are mounted on the mobile robot. The overall sensor setup will be referred further in the article as a data collection platform. The dataset contains synchronized raw data measurements from all the sensors in the robot operating system (ROS) message format and video feeds collected with action and 360 cameras. A detailed description of the sensors embedded into the data collection platform and a data collection process are introduced. The collected dataset is aimed for evaluating navigation, localization and mapping algorithms in SubT environments. This article is accompanied with the public release of all collected datasets from the SubT environment. Link: Dataset (C) 2022 The Author(s). Published by Elsevier B.V.
49.	Kragic, Danica, et al. (författare) Advances in robot vision 2005 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 52:1, s. 1-3 Tidskriftsartikel (övrigt vetenskapligt/konstnärligt)
50.	Kragic, Danica, et al. (författare) Vision for robotic object manipulation in domestic settings 2005 Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 52:1, s. 85-100 Tidskriftsartikel (refereegranskat)abstract In this paper, we present a vision system for robotic object manipulation tasks in natural, domestic environments. Given complex fetch-and-carry robot tasks, the issues related to the whole detect-approach-grasp loop are considered. Our vision system integrates a number of algorithms using monocular and binocular cues to achieve robustness in realistic settings. The cues are considered and used in connection to both foveal and peripheral vision to provide depth information, segmentation of the object(s) of interest, object recognition, tracking and pose estimation. One important property of the system is that the step from object recognition to pose estimation is completely automatic combining both appearance and geometric models. Experimental evaluation is performed in a realistic indoor environment with occlusions, clutter, changing lighting and background conditions.

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