Pub Date : 2009-12-18DOI: 10.1109/ROSE.2009.5355980
Ali Asghar Nazari Shirehjini, S. Shirmohammadi
In this paper, we present a sensor system that uses carpets equipped with RFIDs to measure the position of humans and objects in a room at a very high precision. Such a system can be used in applications such as intelligent media output coordination in multi-display environments or automatic generation of 3D-based user interfaces where precision of 10 cm or better is needed.
{"title":"A high precision sensor system for indoor object positioning and monitoring","authors":"Ali Asghar Nazari Shirehjini, S. Shirmohammadi","doi":"10.1109/ROSE.2009.5355980","DOIUrl":"https://doi.org/10.1109/ROSE.2009.5355980","url":null,"abstract":"In this paper, we present a sensor system that uses carpets equipped with RFIDs to measure the position of humans and objects in a room at a very high precision. Such a system can be used in applications such as intelligent media output coordination in multi-display environments or automatic generation of 3D-based user interfaces where precision of 10 cm or better is needed.","PeriodicalId":107220,"journal":{"name":"2009 IEEE International Workshop on Robotic and Sensors Environments","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115487629","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-18DOI: 10.1109/ROSE.2009.5355982
Emerson J. Olaya, L. Torres-Méndez
In this paper we present the design of a biologically inspired active vision system to estimate the depth of objects in a scene. Our design considers geometric characteristics similar to that of human eyes and uses an algorithm that fovealizes the stereo images at points of interest or previous known objects. The proposed algorithm greatly reduces the computational time. We present preliminary simulated results.
{"title":"A foveated stereo vision system for active depth perception","authors":"Emerson J. Olaya, L. Torres-Méndez","doi":"10.1109/ROSE.2009.5355982","DOIUrl":"https://doi.org/10.1109/ROSE.2009.5355982","url":null,"abstract":"In this paper we present the design of a biologically inspired active vision system to estimate the depth of objects in a scene. Our design considers geometric characteristics similar to that of human eyes and uses an algorithm that fovealizes the stereo images at points of interest or previous known objects. The proposed algorithm greatly reduces the computational time. We present preliminary simulated results.","PeriodicalId":107220,"journal":{"name":"2009 IEEE International Workshop on Robotic and Sensors Environments","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120993509","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-18DOI: 10.1109/ROSE.2009.5355977
S. Zug, J. Kaiser
Acquisition and processing of sensor data has to cope with measurement uncertainties and complex failure modes. Additionally, multiple sensor types and modalities may be used to improve reliability of environment perception. Our work aims at providing an architecture for fault-tolerant sensors and offering a uniform interface to the application. In the paper, we present our fault-tolerant virtual sensor concept that is based on combining model-based estimation and redundant sensor data. To illustrate and evaluate our concept we simulate a mobile robot in an instrumented environment which integrates several smart position sensors. By using a mathematical model to evaluate sensor data we achieve a more reliable position estimation. The paper presents results of the fusion process and discusses methods for generalization.
{"title":"An approach towards smart fault-tolerant sensors","authors":"S. Zug, J. Kaiser","doi":"10.1109/ROSE.2009.5355977","DOIUrl":"https://doi.org/10.1109/ROSE.2009.5355977","url":null,"abstract":"Acquisition and processing of sensor data has to cope with measurement uncertainties and complex failure modes. Additionally, multiple sensor types and modalities may be used to improve reliability of environment perception. Our work aims at providing an architecture for fault-tolerant sensors and offering a uniform interface to the application. In the paper, we present our fault-tolerant virtual sensor concept that is based on combining model-based estimation and redundant sensor data. To illustrate and evaluate our concept we simulate a mobile robot in an instrumented environment which integrates several smart position sensors. By using a mathematical model to evaluate sensor data we achieve a more reliable position estimation. The paper presents results of the fusion process and discusses methods for generalization.","PeriodicalId":107220,"journal":{"name":"2009 IEEE International Workshop on Robotic and Sensors Environments","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129311044","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-18DOI: 10.1109/ROSE.2009.5355991
Antonio Giampà, E. Petri, S. Saponara, P. Terreni
Measuring NOx concentration in exhaust gases of vehicles is essential for emissions monitoring and control. Commercial NOx sensors provide a measure influenced both by the temperature and by the presence of other substances to which the device is sensitive. This paper describes a technique to correct the measure obtained from the NOx sensor by exploiting additional compensating sensors. Thanks to accurate sensors models, it is possible to develop an algorithm that provides a precise estimation of NOx concentration using the data collected from all sensors. The algorithm is suitable to be implemented on a low-complexity microcontroller-based system, as it requires only a few memory resources and a limited computational power.
{"title":"Sensor modeling and fusion algorithms for NOx measures towards zero emissions vehicles","authors":"Antonio Giampà, E. Petri, S. Saponara, P. Terreni","doi":"10.1109/ROSE.2009.5355991","DOIUrl":"https://doi.org/10.1109/ROSE.2009.5355991","url":null,"abstract":"Measuring NOx concentration in exhaust gases of vehicles is essential for emissions monitoring and control. Commercial NOx sensors provide a measure influenced both by the temperature and by the presence of other substances to which the device is sensitive. This paper describes a technique to correct the measure obtained from the NOx sensor by exploiting additional compensating sensors. Thanks to accurate sensors models, it is possible to develop an algorithm that provides a precise estimation of NOx concentration using the data collected from all sensors. The algorithm is suitable to be implemented on a low-complexity microcontroller-based system, as it requires only a few memory resources and a limited computational power.","PeriodicalId":107220,"journal":{"name":"2009 IEEE International Workshop on Robotic and Sensors Environments","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127903255","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-18DOI: 10.1109/ROSE.2009.5355993
S. Saponara, Alessandro Forconi, P. Terreni
This document describes the process of analysis, modeling and compensation through data fusion algorithms of two hydrogen sensors for automotive applications: one is used to detect small leaks (e.g. in pipes ranging from the tank to the engine compartment), while the other has the task of detecting hydrogen concentrations near the explosivity level. Fast and accurate models of the sensors are developed allowing an accurate analysis of the main issues of a practical implementation of the warning system. Such analysis drives the development of effective data fusion techniques to reduce the measure uncertainty (reducing the risk of false alarms or missed detections). The implementation of such techniques on microcontroller-based embedded systems with limited resources in terms of memory and computational power is also addressed.
{"title":"Sensor modeling and data fusion for a safety warning system in hydrogen-based vehicles","authors":"S. Saponara, Alessandro Forconi, P. Terreni","doi":"10.1109/ROSE.2009.5355993","DOIUrl":"https://doi.org/10.1109/ROSE.2009.5355993","url":null,"abstract":"This document describes the process of analysis, modeling and compensation through data fusion algorithms of two hydrogen sensors for automotive applications: one is used to detect small leaks (e.g. in pipes ranging from the tank to the engine compartment), while the other has the task of detecting hydrogen concentrations near the explosivity level. Fast and accurate models of the sensors are developed allowing an accurate analysis of the main issues of a practical implementation of the warning system. Such analysis drives the development of effective data fusion techniques to reduce the measure uncertainty (reducing the risk of false alarms or missed detections). The implementation of such techniques on microcontroller-based embedded systems with limited resources in terms of memory and computational power is also addressed.","PeriodicalId":107220,"journal":{"name":"2009 IEEE International Workshop on Robotic and Sensors Environments","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125168132","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-18DOI: 10.1109/ROSE.2009.5355995
Jeremy Ma, J. Burdick
This paper proposes a novel approach to sensor planning for simultaneous object identification and 3D pose estimation. We consider the problem of determining the next-best-view for a movable sensor (or an autonomous agent) to identify an unknown object from among a database of known object models. We use an information theoretic approach to define a metric (based on the difference between the current and expected model entropy) that guides the selection of the optimal control action. We present a generalized algorithm that can be used in sensor planning for object identification and pose estimation. Experimental results are also presented to validate the proposed algorithm.
{"title":"Sensor planning for object pose estimation and identification","authors":"Jeremy Ma, J. Burdick","doi":"10.1109/ROSE.2009.5355995","DOIUrl":"https://doi.org/10.1109/ROSE.2009.5355995","url":null,"abstract":"This paper proposes a novel approach to sensor planning for simultaneous object identification and 3D pose estimation. We consider the problem of determining the next-best-view for a movable sensor (or an autonomous agent) to identify an unknown object from among a database of known object models. We use an information theoretic approach to define a metric (based on the difference between the current and expected model entropy) that guides the selection of the optimal control action. We present a generalized algorithm that can be used in sensor planning for object identification and pose estimation. Experimental results are also presented to validate the proposed algorithm.","PeriodicalId":107220,"journal":{"name":"2009 IEEE International Workshop on Robotic and Sensors Environments","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124572500","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-18DOI: 10.1109/ROSE.2009.5355987
S. Saponara, L. Ferrari, G. Casarosa, Patrick Hambloch, L. Fanucci, B. Sarti
The paper presents a low-g acceleration acquisition system, realized at the Test Centre Division, Europeans Space and Technology Centre of the European Space Agency. The system has been developed in the frame of an investigation on MEMS based sensors for the detection of very low g accelerations. A possible use of this type of technology is in the field of environmental noise measurement or in specific spacecraft testing where the effects of micro-vibrations induced by the activations of actuators need to be monitored. A Simulink-based approach is proposed for fast, accurate and reconfigurable modeling of the measuring system (sensor plus acquisition chain). The paper shows how such models are essentials to exactly predict the distortion and noise sources, to allow for fast set-up of the experiments, and to manage the signal conditioning process. The validity of the proposed technique is assessed by comparing the predicted results with tests on the real implemented system.
{"title":"Fast and accurate modeling and sensitivity analysis of an acquisition system for very low-g accelerations to be used in spacecraft testing and environmental noise measurements","authors":"S. Saponara, L. Ferrari, G. Casarosa, Patrick Hambloch, L. Fanucci, B. Sarti","doi":"10.1109/ROSE.2009.5355987","DOIUrl":"https://doi.org/10.1109/ROSE.2009.5355987","url":null,"abstract":"The paper presents a low-g acceleration acquisition system, realized at the Test Centre Division, Europeans Space and Technology Centre of the European Space Agency. The system has been developed in the frame of an investigation on MEMS based sensors for the detection of very low g accelerations. A possible use of this type of technology is in the field of environmental noise measurement or in specific spacecraft testing where the effects of micro-vibrations induced by the activations of actuators need to be monitored. A Simulink-based approach is proposed for fast, accurate and reconfigurable modeling of the measuring system (sensor plus acquisition chain). The paper shows how such models are essentials to exactly predict the distortion and noise sources, to allow for fast set-up of the experiments, and to manage the signal conditioning process. The validity of the proposed technique is assessed by comparing the predicted results with tests on the real implemented system.","PeriodicalId":107220,"journal":{"name":"2009 IEEE International Workshop on Robotic and Sensors Environments","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129232492","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-18DOI: 10.1109/ROSE.2009.5355968
E. M. Gorostiza, F. J. Meca, J. Lázaro, David Salido, Luis Pallarés Puerto, Ana Moral Alcaraz
A method for error correction in a phase-shift measuring system based on an I/Q demodulator for robot positioning applications is proposed. Non ideal effects of the system can make inaccuracy rise unacceptably. These effects are modelled so that the error-correction process reduces the error down to 1-1.5 cm, as shown with real measurements, which is highly satisfactory.
{"title":"Error corrections in phase-shift measurement for robot infrared localization in intelligent spaces","authors":"E. M. Gorostiza, F. J. Meca, J. Lázaro, David Salido, Luis Pallarés Puerto, Ana Moral Alcaraz","doi":"10.1109/ROSE.2009.5355968","DOIUrl":"https://doi.org/10.1109/ROSE.2009.5355968","url":null,"abstract":"A method for error correction in a phase-shift measuring system based on an I/Q demodulator for robot positioning applications is proposed. Non ideal effects of the system can make inaccuracy rise unacceptably. These effects are modelled so that the error-correction process reduces the error down to 1-1.5 cm, as shown with real measurements, which is highly satisfactory.","PeriodicalId":107220,"journal":{"name":"2009 IEEE International Workshop on Robotic and Sensors Environments","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116925354","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-18DOI: 10.1109/ROSE.2009.5355981
R. Rossi, X. Savatier, J. Ertaud, B. Mazari
This paper presents a 3-second 3D reconstruction algorithm able to process a dense geometric approximation of the surrounding environment. Image acquisition is done by a stereoscopic panoramic system with two color catadioptric cameras mounted on a mobile robot. An algorithm running on a Graphical Processing Unit (GPU) processes the 3D reconstruction in real-time. As the camera system moves, new views of the scene are used to improve the model of the scene thanks to an incremental algorithm. Then, the performance of our approach is evaluated using a synthetic image sequence.
{"title":"Real-time 3D reconstruction for mobile robot using catadioptric cameras","authors":"R. Rossi, X. Savatier, J. Ertaud, B. Mazari","doi":"10.1109/ROSE.2009.5355981","DOIUrl":"https://doi.org/10.1109/ROSE.2009.5355981","url":null,"abstract":"This paper presents a 3-second 3D reconstruction algorithm able to process a dense geometric approximation of the surrounding environment. Image acquisition is done by a stereoscopic panoramic system with two color catadioptric cameras mounted on a mobile robot. An algorithm running on a Graphical Processing Unit (GPU) processes the 3D reconstruction in real-time. As the camera system moves, new views of the scene are used to improve the model of the scene thanks to an incremental algorithm. Then, the performance of our approach is evaluated using a synthetic image sequence.","PeriodicalId":107220,"journal":{"name":"2009 IEEE International Workshop on Robotic and Sensors Environments","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114587207","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-12-18DOI: 10.1109/ROSE.2009.5355988
Hideki Okazaki, M. Nishiyama, Kazuhiro Watanabe
Fiber optic sensors have a potential to make ideal vibration sensors for smart structures because they can be operated without supplying the power at the sensor itself, have the capability of resistance to corrosion and fatigue, immunity to electrical interference, usage for a long time and safe. Additionally, the fiber optic sensors are practically able to operate the remote sensing due to stable transmission fiber line. Especially, hetero-core optical fiber sensors for environmental monitoring system have several advantages such as high accuracy, repeatability and temperature independency. This paper reports a novel approach to dynamic measurements for vibrations of the window using two types of the hetero-core optical fiber vibration sensors. A first vibration sensor can detect a vibration with high sensitivity due to effectively convert the vibration into change in the curvature of the fiber sensor. A second type of vibration sensor, which is lower sensitivity than the first type sensor, can detect vibrations with a few millimeters in thickness. It is shown that the vibration frequency depends on a fiber length of the two fixed points. A characteristic of spectrum peak shows the relatively wide frequency bands with ranging from 400 to 5000 Hz and from 1000 to 4500 Hz as the fixed points distances in the ranges of 15–45 mm and 10–25 mm for the first and second types of sensors, respectively.
{"title":"Specific vibration frequency detection based on hetero-core fiber optic sensing scheme for security environment monitoring","authors":"Hideki Okazaki, M. Nishiyama, Kazuhiro Watanabe","doi":"10.1109/ROSE.2009.5355988","DOIUrl":"https://doi.org/10.1109/ROSE.2009.5355988","url":null,"abstract":"Fiber optic sensors have a potential to make ideal vibration sensors for smart structures because they can be operated without supplying the power at the sensor itself, have the capability of resistance to corrosion and fatigue, immunity to electrical interference, usage for a long time and safe. Additionally, the fiber optic sensors are practically able to operate the remote sensing due to stable transmission fiber line. Especially, hetero-core optical fiber sensors for environmental monitoring system have several advantages such as high accuracy, repeatability and temperature independency. This paper reports a novel approach to dynamic measurements for vibrations of the window using two types of the hetero-core optical fiber vibration sensors. A first vibration sensor can detect a vibration with high sensitivity due to effectively convert the vibration into change in the curvature of the fiber sensor. A second type of vibration sensor, which is lower sensitivity than the first type sensor, can detect vibrations with a few millimeters in thickness. It is shown that the vibration frequency depends on a fiber length of the two fixed points. A characteristic of spectrum peak shows the relatively wide frequency bands with ranging from 400 to 5000 Hz and from 1000 to 4500 Hz as the fixed points distances in the ranges of 15–45 mm and 10–25 mm for the first and second types of sensors, respectively.","PeriodicalId":107220,"journal":{"name":"2009 IEEE International Workshop on Robotic and Sensors Environments","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127420460","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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