Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6146006
Sang Un Park, Inwook Shim, M. Chung
3D mapping and expression of the environment are very important with various applications in many different fields. Among the various sensors (vision sensor, infrared sensor, and LiDAR (Light Detection and Ranging) sensor), we used the LiDAR sensor in this paper because its accuracy is good and easy to handle. There exist holes in the result of 3D reconstruction. When these holes are filled, improved results of localization, and path planning are expected. We propose a contour based sampling algorithm to fill holes. It uses the information from regions near the holes for the prediction, and the results confirm that the filled regions look similar to the real environment.
{"title":"Hole filled 3D map using mobile robots in the urban environment","authors":"Sang Un Park, Inwook Shim, M. Chung","doi":"10.1109/URAI.2011.6146006","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146006","url":null,"abstract":"3D mapping and expression of the environment are very important with various applications in many different fields. Among the various sensors (vision sensor, infrared sensor, and LiDAR (Light Detection and Ranging) sensor), we used the LiDAR sensor in this paper because its accuracy is good and easy to handle. There exist holes in the result of 3D reconstruction. When these holes are filled, improved results of localization, and path planning are expected. We propose a contour based sampling algorithm to fill holes. It uses the information from regions near the holes for the prediction, and the results confirm that the filled regions look similar to the real environment.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123825533","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 : 2011-11-01DOI: 10.1109/URAI.2011.6145972
T. Kagawa, Takaaki Goto, Y. Uno
In this paper, we propose a sensing and control system of a wearable robot which adjusts a standing posture on a slope. We first analyzed standing posture on a slope using the statics model of human body. The results of the analysis indicate that the ankle joint angle should be adjusted so that the user maintains an upright posture. In the proposed system, angular velocity of ankle joints is determined on the basis of the user's intention which is detected by the center of pressure and vertical ground reaction force. Our experiments demonstrated that a user could adjust the ankle angle to be an upright posture. The results indicate that the posture adjustment system was effective to maintain an upright posture and to reduce the arm loading while standing on the slope.
{"title":"Posture adjustment of standing on a slope with a wearable robot","authors":"T. Kagawa, Takaaki Goto, Y. Uno","doi":"10.1109/URAI.2011.6145972","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145972","url":null,"abstract":"In this paper, we propose a sensing and control system of a wearable robot which adjusts a standing posture on a slope. We first analyzed standing posture on a slope using the statics model of human body. The results of the analysis indicate that the ankle joint angle should be adjusted so that the user maintains an upright posture. In the proposed system, angular velocity of ankle joints is determined on the basis of the user's intention which is detected by the center of pressure and vertical ground reaction force. Our experiments demonstrated that a user could adjust the ankle angle to be an upright posture. The results indicate that the posture adjustment system was effective to maintain an upright posture and to reduce the arm loading while standing on the slope.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127937955","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 : 2011-11-01DOI: 10.1109/URAI.2011.6145868
Kazutaka Tatara, Geunho Lee, N. Chong
We address a self-organizing network problem for autonomous robotic sensor swarms towards various ad hoc sensor network applications. For this purpose, a decentralized solution approach is proposed to enable individual robots to build and to maintain their network through locally communicative interactions with adjacent robots. Specifically, the communicative interaction allows robots to select specific neighbors with higher connectivity, and to adapt to network topological changes by robot movements. The proposed approach is verified to be effective through extensive simulations for the secure self-organization of a robotic sensor network. Considering the realistic conditions of communication delays and re-configuration for robot disappearances due to robot failures, simulations are also performed.
{"title":"Self-organizing ad-hoc robotic sensor networks based on locally communicative interactions","authors":"Kazutaka Tatara, Geunho Lee, N. Chong","doi":"10.1109/URAI.2011.6145868","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145868","url":null,"abstract":"We address a self-organizing network problem for autonomous robotic sensor swarms towards various ad hoc sensor network applications. For this purpose, a decentralized solution approach is proposed to enable individual robots to build and to maintain their network through locally communicative interactions with adjacent robots. Specifically, the communicative interaction allows robots to select specific neighbors with higher connectivity, and to adapt to network topological changes by robot movements. The proposed approach is verified to be effective through extensive simulations for the secure self-organization of a robotic sensor network. Considering the realistic conditions of communication delays and re-configuration for robot disappearances due to robot failures, simulations are also performed.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"2016 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128034765","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 : 2011-11-01DOI: 10.1109/URAI.2011.6145995
Jin-Baek Kim, Byung-Kook Kim
All sensors inevitably have various errors. These errors make output data from sensor to be inaccurate and mobile robot applications that use to be unstable. For this reason, there are many calibration methods to compensate the error. We propose a new calibration method for infrared range finder PBS-03JN. This method based on error characteristic of PBS-03JN and uses Cubic hermite as a calibration function. Cubic hermite is often used for data regression because it has continuity, smoothness and monotonicity. Our method makes output data from PBS-03JN to be more accurate efficiently. The performance of our calibration is shown by some data collection experiments and simulations.
{"title":"Efficient calibration of infrared range finder PBS-03JN with scan-wise cubic hermite splines for indoor mobile robots","authors":"Jin-Baek Kim, Byung-Kook Kim","doi":"10.1109/URAI.2011.6145995","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145995","url":null,"abstract":"All sensors inevitably have various errors. These errors make output data from sensor to be inaccurate and mobile robot applications that use to be unstable. For this reason, there are many calibration methods to compensate the error. We propose a new calibration method for infrared range finder PBS-03JN. This method based on error characteristic of PBS-03JN and uses Cubic hermite as a calibration function. Cubic hermite is often used for data regression because it has continuity, smoothness and monotonicity. Our method makes output data from PBS-03JN to be more accurate efficiently. The performance of our calibration is shown by some data collection experiments and simulations.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"330 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126771088","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 : 2011-11-01DOI: 10.1109/URAI.2011.6145991
Kai Zhou, M. Zillich, M. Vincze
This work presents the results of 5 days of project work carried out as part of the 2011 CogX Spring School. The task to be solved was to program a mobile robot to train a set of objects, locate a subset of these in a room, and to pick up and return them to a defined drop-off zone.
{"title":"Mobile manipulation: Bring back the cereal box video proceedings of the 2011 CogX Spring School","authors":"Kai Zhou, M. Zillich, M. Vincze","doi":"10.1109/URAI.2011.6145991","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145991","url":null,"abstract":"This work presents the results of 5 days of project work carried out as part of the 2011 CogX Spring School. The task to be solved was to program a mobile robot to train a set of objects, locate a subset of these in a room, and to pick up and return them to a defined drop-off zone.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122604000","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 : 2011-11-01DOI: 10.1109/URAI.2011.6145926
Bonggun Shin, Sungho Jo
This paper presents a new algorithm of encoding dynamic movements through pattern-preserving optimization by a physical robot. This research follows a recent robot programming approach called learning from demonstration in which the motion trajectory is learned from human demonstrations. The motivation of this work is to deal with major challenges in learning from demonstration such as embodiment mapping, generalization, adaptation, robustness to perturbations, stability, pattern-preserving, and parameter tuning. We propose a new method that can deal with those problems and present empirical results to support our insistence.
{"title":"Pattern-preserving-based motion imitation for robots","authors":"Bonggun Shin, Sungho Jo","doi":"10.1109/URAI.2011.6145926","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145926","url":null,"abstract":"This paper presents a new algorithm of encoding dynamic movements through pattern-preserving optimization by a physical robot. This research follows a recent robot programming approach called learning from demonstration in which the motion trajectory is learned from human demonstrations. The motivation of this work is to deal with major challenges in learning from demonstration such as embodiment mapping, generalization, adaptation, robustness to perturbations, stability, pattern-preserving, and parameter tuning. We propose a new method that can deal with those problems and present empirical results to support our insistence.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126612474","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 : 2011-11-01DOI: 10.1109/URAI.2011.6145976
Dong-Jin Yoon, Suk-Ho Jang, Jung-ha Kim
This paper describes the 3D map generation for UGV(Unmanned Ground Vehicle) using 2D laser scanner. We have developed the 3D mapping system by integrating 2D laser scanner and motor driven revolution device. This platform has advantageous that one 3D laser scanner can displace multiple 2D laser scanners; 2D laser scanner could obtain limited data from terrain. The approach presented in this paper describes the mapping of driving environments and obstacle detecting of UGV by using a 3D mapping system
{"title":"Design of mapping system for Unmanned Ground Vehicle","authors":"Dong-Jin Yoon, Suk-Ho Jang, Jung-ha Kim","doi":"10.1109/URAI.2011.6145976","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145976","url":null,"abstract":"This paper describes the 3D map generation for UGV(Unmanned Ground Vehicle) using 2D laser scanner. We have developed the 3D mapping system by integrating 2D laser scanner and motor driven revolution device. This platform has advantageous that one 3D laser scanner can displace multiple 2D laser scanners; 2D laser scanner could obtain limited data from terrain. The approach presented in this paper describes the mapping of driving environments and obstacle detecting of UGV by using a 3D mapping system","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"273 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127297197","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 : 2011-11-01DOI: 10.1109/URAI.2011.6146018
Yu-Cheol Lee, Christiand, Seunghwan Park, Wonpil Yu, Sunghoon Kim
This paper presents an efficient method for building a topological map for robots in urban environments based on a geographic information system (GIS) such as satellite maps. In urban space, mobile robots need a special map, such as a topological map, to generate a path toward their goal. Unlike a car map, a topological map for mobile robot navigation should include semantic data, e.g., the width and type of road. This paper divides the GIS-based topological map building process into two steps. The first step is defining the topological map model to fit the mobile robot navigation in an urban environment. The second step is generating a topological map from existing GIS data to reduce the cost and improve the accuracy in building the map.
{"title":"Topological map building for mobile robots based on GIS in urban environments","authors":"Yu-Cheol Lee, Christiand, Seunghwan Park, Wonpil Yu, Sunghoon Kim","doi":"10.1109/URAI.2011.6146018","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146018","url":null,"abstract":"This paper presents an efficient method for building a topological map for robots in urban environments based on a geographic information system (GIS) such as satellite maps. In urban space, mobile robots need a special map, such as a topological map, to generate a path toward their goal. Unlike a car map, a topological map for mobile robot navigation should include semantic data, e.g., the width and type of road. This paper divides the GIS-based topological map building process into two steps. The first step is defining the topological map model to fit the mobile robot navigation in an urban environment. The second step is generating a topological map from existing GIS data to reduce the cost and improve the accuracy in building the map.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127692678","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 : 2011-11-01DOI: 10.1109/URAI.2011.6145996
Young Hoon Lee, ChangHyun Jun, Hyunga Choi, Soo-Hyun Ryu, N. Doh
Analysis on causes of inconsistency of Extended Kalman Filter (EKF) Simultaneous Localization And Mapping (SLAM) is mentioned in this paper. The effect of noise models and observation models on the inconsistent behavior of EKF SLAM was examined. In addition, the effect of registration of the false landmarks on inconsistent behavior of the EKF SLAM is mentioned in this paper. This paper identifies several causes of inconsistency of EKF SLAM by observability analysis.
{"title":"The analysis of effect of observation models and data associations on the consistency of EKF SLAM","authors":"Young Hoon Lee, ChangHyun Jun, Hyunga Choi, Soo-Hyun Ryu, N. Doh","doi":"10.1109/URAI.2011.6145996","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145996","url":null,"abstract":"Analysis on causes of inconsistency of Extended Kalman Filter (EKF) Simultaneous Localization And Mapping (SLAM) is mentioned in this paper. The effect of noise models and observation models on the inconsistent behavior of EKF SLAM was examined. In addition, the effect of registration of the false landmarks on inconsistent behavior of the EKF SLAM is mentioned in this paper. This paper identifies several causes of inconsistency of EKF SLAM by observability analysis.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132871830","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 : 2011-11-01DOI: 10.1109/URAI.2011.6146040
Daeha Lee, Jaehong Kim, J. Sohn
Mean-Shift algorithm has been applied mode seeking, image segmentation and object tracking. It is famous for fast convergence within limited boundary. But once exit that boundary, it fails to find correct region and position. We applied mean-shift algorithm in object tracking, and we suggest modified mean-shift tracking method. Using this modified version, we can track object without failing.
{"title":"Modified Mean-Shift for head tracking","authors":"Daeha Lee, Jaehong Kim, J. Sohn","doi":"10.1109/URAI.2011.6146040","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146040","url":null,"abstract":"Mean-Shift algorithm has been applied mode seeking, image segmentation and object tracking. It is famous for fast convergence within limited boundary. But once exit that boundary, it fails to find correct region and position. We applied mean-shift algorithm in object tracking, and we suggest modified mean-shift tracking method. Using this modified version, we can track object without failing.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"184 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122930473","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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