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Mobile robot localization has been considered to be an important task in the field of robotics research. It is known that it is difficult to estimate the self-position in dynamic environments where the positions of objects used as landmarks change. In this paper, we propose a robust method to estimate self-position from the first person view captured by a camera on a robot using Recurrent Convolutional...
In this paper we present an end to end object modeling pipeline for an unmanned aerial vehicle (UAV). We contribute a UAV system which is able to autonomously plan a path, navigate, acquire views of an object in the environment from which a model is built. The UAV does collision checking of the path and navigates only to those areas deemed safe. The data acquired is sent to a registration system which...
This work presents KMVO, a ground plane based visual odometry that utilizes the vehicle's kinematic model to improve accuracy and robustness. Instead of solving a generic image alignment problem, the motion parameters of a differential drive vehicle can be directly estimated from RGB- D image data. In addition, a method for outlier rejection is presented that can deal with large percentages of outliers...
The ability of autonomous mobile robots to react to and recover from potential failures of on-board systems is an important area of ongoing robotics research. With increasing emphasis on robust systems and long-term autonomy, mobile robots must be able to respond safely and intelligently to dangerous situations. Recent developments in computer vision have made autonomous vision based navigation possible...
With the continuous development of modern surveying and mapping technology, robotics has been gradually adopted to achieve the autonomous digital measurements. In this paper, a mobile robot platform is designed and controlled to travel inside the Adit environment to collect data for 3D reconstruction and measurement. In traditional control applications, PID-based methods(PID) are widely used for the...
The Ranger robot was designed to interact with children in order to motivate them to tidy up their room. Its mechanical configuration, together with the limited field of view of its depth camera, make the learning of obstacle avoidance behaviors a hard problem. In this article we introduce two new Particle Swarm Optimization (PSO) algorithms designed to address this noisy, high-dimensional optimization...
On 18 November 2014, a team of four autonomous CoBot robots reached 1,000-km of overall autonomous navigation, as a result of a 1,000-km challenge that the authors had set three years earlier. The authors are frequently asked for the lessons learned, as well as the performance results. In this article, they introduce the challenge and contribute a detailed presentation of technical insights as well...
This paper introduces the method of detecting a route space for an industrial indoor vehicle. The vehicles work in many industrial fields, e.g., a semiconductor production and a car assembly factory. The detection of the route space under illuminant disturbance is an important problem for the industrial vehicle robot. The industrial vehicle has to move to the same areas in a factory. For these works,...
Nowadays the big challenge in simultaneous localization and mapping (SLAM) of mobile robots is the creation of efficient and robust algorithms. Significant Number of SLAM algorithms rely on unique features or or use artificial landmarks received from camera images. Feature points and landmarks extraction from images have two significant drawbacks: CPU consumption and weak robustness depending on environment...
Lateral localization of an autonomous vehicle within its lane is major information for its adequate control and navigation. Computer vision and robotics communities have used primarily images to Bird's Eye View for easier data manipulation than perspective image. Nevertheless, this technique usually assumes that the terrain is flat and needs calibration for its transformation matrix. In this paper...
We propose a robust method for incrementally estimating a regular-grid ground surface map from stereo image sequences captured by nearly front-looking vehicle-mounted stereo cameras. The method simultaneously estimates a camera ego-motion and vertex heights of a regular mesh, which is composed of piecewise triangular patches drawn on a level plane in the ground coordinate system, by minimizing pixel...
In this paper, we proposed a disturbance rejection control method to improve the position keeping accuracy of an underwater robot. Not like a ground robot, the controlling of a floating body is a critical requirement to acquire high quality sensor data from, for examples, a gyro, an underwater optical camera, and an imaging sonar. The proposed controller consists of a model-based robust compensator...
A fast method based on binocular vision is proposed for mobile robot to detect drivable regions. First, the image is segmented into regions by searching contours. Second, part obstacle regions are determined by the vanishing line. Then, according to the different distribution of feature points extracted from the regions under the vanishing line, we use two different method to classify regions: various...
For a mobile robot equipped with a camera, the vanishing points detection is an important machine vision task necessary for various applications, such as mobile robot navigation and camera calibration. In this paper, a novel algorithm to detect the vanishing point in various indoor environments using an omnidirectional camera is proposed. The proposed algorithm contains three steps. In the first step,...
This paper discusses a tracking control problem of nonholonomic mobile robots with visual servoing feedback. By comparing corresponding target points of an object from two different camera images, geometric relationships are exploited to derive a transformation that relates the actual position and orientation of the mobile robot to a reference position and orientation. This transformation is used...
Self-localization in unknown environment is one of the most fundamental tasks for mobile robot. In this paper, a novel localization method for mobile robot working in unknown environment is presented by using scale-invariant natural landmarks. Firstly, corner detector was used to detect the interesting points and get the natural land marks, and then a 3D map of the environment was built. Lastly, the...
This article presents a new technique to visual people tracking that combines feature-based object detection with feature tracking. In comparison to tracking by detection techniques which are frequently employed by feature-based approaches, the explicit tracking of detected features achieves a speed up of the overall tracking process and allows to adapt the chosen features on-line; this way, the tracker...
We propose a novel localization method for outdoor mobile robots using High Dynamic Range (HDR) vision technology. To obtain an HDR image, multiple images at different exposures is typically captured and combined. However, since mobile robots can be moving during a capture sequence, images cannot be fused easily. Instead, we generate a set of keypoints that incorporates those detected in each image...
In this paper, we propose a position tracking method for robot self-localization with monocular vision. The robot is able to locate itself relying solely on its onboard monocular camera, and the localization result will not be affected by odometer error caused by wheel slippage. Our approach uses the Scale Invariant Feature Transform (SIFT) for feature detection and matching over consecutive frames...
In this research, we propose state-of-the-art 6-Degrees-Of-Freedom (6DOF) visual odometry (VO) system which fused stereo VO with effective feature sampling, VO using normal vector information of a ground plane and monocular VO. Firstly, stereo VO is used to do 6DOF motion estimation in untextured dynamic environments. Secondly, ground plane information is used to improve the accuracy of roll and pitch...
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