Liquid waste is a type of dirt that is often found in toilets. Detection of liquid waste such as water or urine in the restroom is challenging due to their limited physical appearances, e.g., transparency and small size. This paper proposes a new method to detect water droplets, including water splashes, on the toilet floor by using the heat absorption capacity of liquid. Water, air, and floor have different heat capacity characteristics. Increasing temperature difference between water droplets and surroundings is done using blowing air on the surface of the detection area. A thermal camera is used to observe the detection area and an adaptive threshold is implemented to localize water droplets. This study also proposed a low-cost calibration chessboard method for thermal images that can produce good contrast images for calibrating wide-angle thermal camera modules. The results obtained from the experiment were promising, the system was able to detect single water drop up to 2 mm in diameter on a floor of 90 × 170 cm, and detection rate was above 95% for water droplets with a minimal size of 5 mm in diameter.
{"title":"Water Droplet Detection System on Toilet Floor Using Heat Absorption Capacity of Liquid","authors":"Rama Okta Wiyagi, Kazuyoshi Wada","doi":"10.20965/jrm.2024.p0388","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0388","url":null,"abstract":"Liquid waste is a type of dirt that is often found in toilets. Detection of liquid waste such as water or urine in the restroom is challenging due to their limited physical appearances, e.g., transparency and small size. This paper proposes a new method to detect water droplets, including water splashes, on the toilet floor by using the heat absorption capacity of liquid. Water, air, and floor have different heat capacity characteristics. Increasing temperature difference between water droplets and surroundings is done using blowing air on the surface of the detection area. A thermal camera is used to observe the detection area and an adaptive threshold is implemented to localize water droplets. This study also proposed a low-cost calibration chessboard method for thermal images that can produce good contrast images for calibrating wide-angle thermal camera modules. The results obtained from the experiment were promising, the system was able to detect single water drop up to 2 mm in diameter on a floor of 90 × 170 cm, and detection rate was above 95% for water droplets with a minimal size of 5 mm in diameter.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140682089","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}
We propose a methodology that uses the relative positional information of multiple antennas to estimate the Wrong Fix, which refers to an erroneous determination of the carrier-phase ambiguity utilized in GNSS satellites. The proposed approach is based on the fundamental notion that the mutual positional relationship of multiple antennas mounted on a mobile robot remains constant, and it uses machine-learning techniques based on the relative position information among the antennas to identify instances of Wrong Fixes. The relative distance between the antennas is derived from the real-time kinematic (RTK) position information of each antenna. The confidence level of the RTK positioning results was calculated using logistic regression, considering the measurement error with respect to the true value. To determine the Wrong Fixes, a labeled dataset was constructed, indicating that data were categorized as wrong fixes when the error from the true value exceeded 0.1 m. This dataset served as the training database for the logistic regression model. Experimental results demonstrate that the proposed methodology effectively reduced the root mean squared error between the measured location, classified as fixed by a trained discriminator, and the true value.
{"title":"Wrong Fix Detection for RTK Positioning Based on Relative Position Between Multiple Antennas","authors":"Tomohito Takubo, Masaya Sato, A. Ueno","doi":"10.20965/jrm.2024.p0472","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0472","url":null,"abstract":"We propose a methodology that uses the relative positional information of multiple antennas to estimate the Wrong Fix, which refers to an erroneous determination of the carrier-phase ambiguity utilized in GNSS satellites. The proposed approach is based on the fundamental notion that the mutual positional relationship of multiple antennas mounted on a mobile robot remains constant, and it uses machine-learning techniques based on the relative position information among the antennas to identify instances of Wrong Fixes. The relative distance between the antennas is derived from the real-time kinematic (RTK) position information of each antenna. The confidence level of the RTK positioning results was calculated using logistic regression, considering the measurement error with respect to the true value. To determine the Wrong Fixes, a labeled dataset was constructed, indicating that data were categorized as wrong fixes when the error from the true value exceeded 0.1 m. This dataset served as the training database for the logistic regression model. Experimental results demonstrate that the proposed methodology effectively reduced the root mean squared error between the measured location, classified as fixed by a trained discriminator, and the true value.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140680166","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}
Semantic information has started to be used in localization methods to introduce a non-geometric distinction in the environment. However, efficient ways to integrate this information remain a question. We propose an approach for fusing data from different object classes by analyzing the posterior for each object class to improve robustness and accuracy for self-localization. Our system uses the bearing angle to the objects’ center and objects’ class names as sensor model input to localize the user on a 2D annotated map consisting of objects’ class names and center coordinates. Sensor model input is obtained by an object detector on equirectangular images of a 360° field of view camera. As object detection performance varies based on location and object class, different object classes generate different likelihoods. We account for this by using appropriate weights generated by a Gaussian process model trained by using our posterior analysis. Our approach follows a systematic way to fuse data from different object classes and use them as a likelihood function of a Monte Carlo localization (MCL) algorithm.
{"title":"Data Fusion for Sparse Semantic Localization Based on Object Detection","authors":"Irem Uygur, Renato Miyagusuku, Sarthak Pathak, Hajime Asama, Atsushi Yamashita","doi":"10.20965/jrm.2024.p0375","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0375","url":null,"abstract":"Semantic information has started to be used in localization methods to introduce a non-geometric distinction in the environment. However, efficient ways to integrate this information remain a question. We propose an approach for fusing data from different object classes by analyzing the posterior for each object class to improve robustness and accuracy for self-localization. Our system uses the bearing angle to the objects’ center and objects’ class names as sensor model input to localize the user on a 2D annotated map consisting of objects’ class names and center coordinates. Sensor model input is obtained by an object detector on equirectangular images of a 360° field of view camera. As object detection performance varies based on location and object class, different object classes generate different likelihoods. We account for this by using appropriate weights generated by a Gaussian process model trained by using our posterior analysis. Our approach follows a systematic way to fuse data from different object classes and use them as a likelihood function of a Monte Carlo localization (MCL) algorithm.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140681968","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}
Aiming at solving the problems such as long calibration time, low precision, and complex operation in hand-eye calibration of welding robot, an automatic hand-eye calibration algorithm based on linear structured light was proposed to solve the calibration matrix X by using AX=ZB calibration equation. Firstly, a square calibration plate is customized to effectively constrain the structured light. The α-shape algorithm was adopted to extract the contour of the 3D point cloud model of the calibration plate. Secondly, an improved random sampling consistency algorithm which could determine the optimal iterative number was proposed to fit the contour point cloud, the contour point cloud model fitted was obtained. Finally, the 3D coordinates of the target points were determined with the linear structured light to complete the hand-eye calibration. In order to prevent the calibration plate from deviating from the acquisition range of the vision sensor during the calibration process, the distance between the linear structural light and the inner circle in the calibration plate was set to limit the motion range of the robot. In order to eliminate the error transfer of the robot body, an optimal solution of the rotation matrix R and the translation vector t of the calibration data was calculated with the singular value decomposition (SVD) and the least square rigid transpose method. The experimental results show that the calibration accuracy reaches 0.3 mm without compensating the robot body error, and the calibration speed is improved by 36% than the existing automatic calibration method. Therefore, the algorithm proposed can automatically complete the calibration only by establishing the user coordinates in advance, which improves the working accuracy and efficiency of the welding robots greatly.
针对焊接机器人手眼标定中存在的标定时间长、精度低、操作复杂等问题，提出了一种基于线性结构光的手眼自动标定算法，利用 AX=ZB 标定方程求解标定矩阵 X。首先，定制一个方形校准板以有效约束结构光。采用 α 形算法提取校准板三维点云模型的轮廓。其次，提出了一种能确定最佳迭代次数的改进随机抽样一致性算法来拟合轮廓点云，得到了拟合的轮廓点云模型。最后，利用线性结构光确定目标点的三维坐标，完成手眼校准。为了防止校准板在校准过程中偏离视觉传感器的采集范围，设置了线性结构光与校准板内圆之间的距离，以限制机器人的运动范围。为了消除机器人本体的误差传递，利用奇异值分解法（SVD）和最小平方刚性转置法计算出了标定数据的旋转矩阵 R 和平移矢量 t 的最优解。实验结果表明，在不补偿机器人本体误差的情况下，校准精度达到了 0.3 毫米，校准速度比现有自动校准方法提高了 36%。因此，所提出的算法只需提前建立用户坐标就能自动完成标定，大大提高了焊接机器人的工作精度和效率。
{"title":"Automatic Hand-Eye Calibration Method of Welding Robot Based on Linear Structured Light","authors":"Dongmin Li, Wang Yu, Wenping Ma, Xiujie Liu, Guowei Ding, Guohui Zhang, Fang Jiaqi","doi":"10.20965/jrm.2024.p0438","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0438","url":null,"abstract":"Aiming at solving the problems such as long calibration time, low precision, and complex operation in hand-eye calibration of welding robot, an automatic hand-eye calibration algorithm based on linear structured light was proposed to solve the calibration matrix X by using AX=ZB calibration equation. Firstly, a square calibration plate is customized to effectively constrain the structured light. The α-shape algorithm was adopted to extract the contour of the 3D point cloud model of the calibration plate. Secondly, an improved random sampling consistency algorithm which could determine the optimal iterative number was proposed to fit the contour point cloud, the contour point cloud model fitted was obtained. Finally, the 3D coordinates of the target points were determined with the linear structured light to complete the hand-eye calibration. In order to prevent the calibration plate from deviating from the acquisition range of the vision sensor during the calibration process, the distance between the linear structural light and the inner circle in the calibration plate was set to limit the motion range of the robot. In order to eliminate the error transfer of the robot body, an optimal solution of the rotation matrix R and the translation vector t of the calibration data was calculated with the singular value decomposition (SVD) and the least square rigid transpose method. The experimental results show that the calibration accuracy reaches 0.3 mm without compensating the robot body error, and the calibration speed is improved by 36% than the existing automatic calibration method. Therefore, the algorithm proposed can automatically complete the calibration only by establishing the user coordinates in advance, which improves the working accuracy and efficiency of the welding robots greatly.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140680303","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}
In the future, a situation in which operators switch between different machine classes in teleoperated hydraulic excavator is envisioned. In such a case, because the classes have different dynamic characteristics, the operator is expected to acquire an internal model for each class and switch models each time the operator switches between machines. However, in the case of teleoperated hydraulic excavator, the operator cannot obtain information such as the size and dynamic characteristics of the machine to be switched to; thus, the operator may not be able to switch internal models properly, which may affect the operation efficiency. Therefore, this study proposes a method in which images and videos are used to present the dynamic characteristics of the next machine to be operated during machine changeover in teleoperated hydraulic excavator. To verify the effectiveness of the proposed method, a simulator that imitates teleoperated hydraulic excavator was built and tested on test subjects. The swing operation time significantly increased when the machine was switched without presentation, compared with the case without switching. Meanwhile, the proposed method did not increase the swing operation time associated with machine switching, suggesting its effectiveness. The video presentation method was more effective than the image presentation method for suppressing the increase in swing operation time, indicating that the operator can immediately switch to an appropriate internal model with the presentation of the dynamic characteristics of the machine in advance using video.
{"title":"Visual Presentation Interface to Reduce Effect of Machine Switching for Teleoperated Hydraulic Excavators","authors":"Masaki Nagai, Junya Masunaga, Masaru Ito, Chiaki Raima, Seiji Saiki, Yoichiro Yamazaki, Yuichi Kurita","doi":"10.20965/jrm.2024.p0309","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0309","url":null,"abstract":"In the future, a situation in which operators switch between different machine classes in teleoperated hydraulic excavator is envisioned. In such a case, because the classes have different dynamic characteristics, the operator is expected to acquire an internal model for each class and switch models each time the operator switches between machines. However, in the case of teleoperated hydraulic excavator, the operator cannot obtain information such as the size and dynamic characteristics of the machine to be switched to; thus, the operator may not be able to switch internal models properly, which may affect the operation efficiency. Therefore, this study proposes a method in which images and videos are used to present the dynamic characteristics of the next machine to be operated during machine changeover in teleoperated hydraulic excavator. To verify the effectiveness of the proposed method, a simulator that imitates teleoperated hydraulic excavator was built and tested on test subjects. The swing operation time significantly increased when the machine was switched without presentation, compared with the case without switching. Meanwhile, the proposed method did not increase the swing operation time associated with machine switching, suggesting its effectiveness. The video presentation method was more effective than the image presentation method for suppressing the increase in swing operation time, indicating that the operator can immediately switch to an appropriate internal model with the presentation of the dynamic characteristics of the machine in advance using video.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140680224","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}
This paper proposes an admittance control scheme for robots equipped with joint-level position controllers involving deadtime. Its main feature is an elaborate discrete-time jerk limiter, which limits the third derivative of the position command sent to the controller. The jerk limiter is designed to suppress undesirable oscillation especially when the robot is in contact with a stiff environment. The controller is designed as a differential inclusion involving normal cones in the continuous-time domain, and its discrete-time algorithm is derived by the implicit Euler discretization. The presented controller was validated with experiments using a collaborative robot UR3e of Universal Robots, which has a deadtime of 6 ms in the velocity-command mode.
{"title":"An Admittance Controller with a Jerk Limiter for Position-Controlled Robots","authors":"Ryusei Mae, Ryo Kikuuwe","doi":"10.20965/jrm.2024.p0483","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0483","url":null,"abstract":"This paper proposes an admittance control scheme for robots equipped with joint-level position controllers involving deadtime. Its main feature is an elaborate discrete-time jerk limiter, which limits the third derivative of the position command sent to the controller. The jerk limiter is designed to suppress undesirable oscillation especially when the robot is in contact with a stiff environment. The controller is designed as a differential inclusion involving normal cones in the continuous-time domain, and its discrete-time algorithm is derived by the implicit Euler discretization. The presented controller was validated with experiments using a collaborative robot UR3e of Universal Robots, which has a deadtime of 6 ms in the velocity-command mode.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140680598","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}
Akihiro Okamoto, M. Sasano, Kangsoo Kim, Toshifumi Fujiwara
Although research has been conducted on the simultaneous operation of multiple autonomous underwater vehicles (AUVs) to improve the efficiency of oceanographic surveys, it has become clear that sonar interference occurs between AUVs that are in close proximity. In this study, a formation control system was developed for actual operation at sea, based on the assumption of an operational system with an autonomous surface vehicle (ASV) and multiple AUVs. A control algorithm was implemented to maintain the AUVs within the desired range of the ASV, ensure communication, and avoid sonar interference by sending commands to increase or decrease the speed of the AUVs. Simulations were performed to verify the effectiveness of the developed method for the operation of one ASV and 10 AUVs. Evaluation scores for the distance between vehicles were introduced to quantify the effectiveness of the algorithm. The proposed method obtained the highest scores for formation control in the assumed operational scenarios. This confirms the effectiveness of the proposed method in avoiding the side-by-side relationships that cause sonar interference.
虽然已经开展了关于多个自主潜水器（AUV）同时运行以提高海洋勘测效率的研究，但很明显，距离很近的 AUV 之间会发生声纳干扰。在本研究中，基于一个由自主水面飞行器（ASV）和多个 AUV 组成的运行系统假设，开发了一个用于海上实际操作的编队控制系统。该系统采用了一种控制算法，通过发送增加或降低 AUV 速度的命令，将 AUV 保持在 ASV 的预期范围内，确保通信并避免声纳干扰。为验证所开发方法的有效性，对一艘 ASV 和 10 艘 AUV 的运行进行了模拟。为量化算法的有效性，引入了车辆间距离的评估分数。在假设的运行场景中，所提出的方法在编队控制方面获得了最高分。这证实了拟议方法在避免造成声纳干扰的并排关系方面的有效性。
{"title":"Development of Formation Control System for Multiple AUVs with Sonar Interference Avoidance Function","authors":"Akihiro Okamoto, M. Sasano, Kangsoo Kim, Toshifumi Fujiwara","doi":"10.20965/jrm.2024.p0449","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0449","url":null,"abstract":"Although research has been conducted on the simultaneous operation of multiple autonomous underwater vehicles (AUVs) to improve the efficiency of oceanographic surveys, it has become clear that sonar interference occurs between AUVs that are in close proximity. In this study, a formation control system was developed for actual operation at sea, based on the assumption of an operational system with an autonomous surface vehicle (ASV) and multiple AUVs. A control algorithm was implemented to maintain the AUVs within the desired range of the ASV, ensure communication, and avoid sonar interference by sending commands to increase or decrease the speed of the AUVs. Simulations were performed to verify the effectiveness of the developed method for the operation of one ASV and 10 AUVs. Evaluation scores for the distance between vehicles were introduced to quantify the effectiveness of the algorithm. The proposed method obtained the highest scores for formation control in the assumed operational scenarios. This confirms the effectiveness of the proposed method in avoiding the side-by-side relationships that cause sonar interference.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140681347","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}
Kazuki Ito, Sayaka Hida, T. Kinugasa, Kentaro Chiba, Yu Okuda, Miwa Ichikawa, Tsukasa Okoshi, R. Takasaki, R. Hayashi, K. Yoshida, Koichi Osuka
In this study, the cam-like passive mechanism, known as the engage–disengage mechanism (EDM) of the intertarsal joint of ratites, and its design principles are investigated. This mechanism operates through the interplay of a muscle and three ligaments located on the medial and lateral sides of the intertarsal joint and the articular surface morphology of the tibiotarsus. The interplay of the musculoskeletal ligamentous elements creates two stable equilibrium points when they are almost fully extended and flexed. To elucidate the EDM in the intertarsal joints of ratites, we dissected the hindlimb of an emu (Dromaius novaehollandiae) and examined anatomical features around the joint. Subsequently, we replicated the intertarsal joint of ratites using a physical model. This model consists of three-dimensional-printed ostrich bones, coil springs, and nylon strings simulating the muscle and ligaments. This model successfully replicated the EDM and facilitated the analysis of the interplay of musculoskeletal ligamentous elements. We demonstrated that the medial ligaments and the morphology of the tibiotarsal articular surface play significant roles in facilitating the execution of EDM. Furthermore, we observed that the articular surface morphology resembles a well-known cam system in engineering and is responsible for the EDM.
{"title":"Cam-Like Mechanism in Intertarsal Joints of Ratites and its Design Framework","authors":"Kazuki Ito, Sayaka Hida, T. Kinugasa, Kentaro Chiba, Yu Okuda, Miwa Ichikawa, Tsukasa Okoshi, R. Takasaki, R. Hayashi, K. Yoshida, Koichi Osuka","doi":"10.20965/jrm.2024.p0406","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0406","url":null,"abstract":"In this study, the cam-like passive mechanism, known as the engage–disengage mechanism (EDM) of the intertarsal joint of ratites, and its design principles are investigated. This mechanism operates through the interplay of a muscle and three ligaments located on the medial and lateral sides of the intertarsal joint and the articular surface morphology of the tibiotarsus. The interplay of the musculoskeletal ligamentous elements creates two stable equilibrium points when they are almost fully extended and flexed. To elucidate the EDM in the intertarsal joints of ratites, we dissected the hindlimb of an emu (Dromaius novaehollandiae) and examined anatomical features around the joint. Subsequently, we replicated the intertarsal joint of ratites using a physical model. This model consists of three-dimensional-printed ostrich bones, coil springs, and nylon strings simulating the muscle and ligaments. This model successfully replicated the EDM and facilitated the analysis of the interplay of musculoskeletal ligamentous elements. We demonstrated that the medial ligaments and the morphology of the tibiotarsal articular surface play significant roles in facilitating the execution of EDM. Furthermore, we observed that the articular surface morphology resembles a well-known cam system in engineering and is responsible for the EDM.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140680572","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}
In this study, a simultaneous localization and mapping (SLAM) system for a two-wheeled mobile robot was developed in an indoor environment using RGB images, depth images, and wheel odometry. The proposed SLAM system applies planar motion constraints performed by a robot in a two-dimensional space to robot poses parameterized in a three-dimensional space. The formulation of these constraints is based on a conventional study. However, in this study, the information matrices that weigh the planar motion constraints are given dynamically based on the wheel odometry model and the number of feature matches. These constraints are implemented into the SLAM graph optimization framework. In addition, to effectively apply these constraints, the system estimates two of the rotation components between the robot and camera coordinates during SLAM initialization using a point cloud to construct a floor recovered from a depth image. The system implements feature-based Visual SLAM software. The experimental results show that the proposed system improves the localization accuracy and robustness in dynamic environments and changes the camera-mounted angle. In addition, we show that planar motion constraints enable the SLAM system to generate a consistent voxel map, even in an environment of several tens of meters.
本研究利用 RGB 图像、深度图像和车轮里程计，在室内环境中为双轮移动机器人开发了同步定位和映射（SLAM）系统。所提出的 SLAM 系统将机器人在二维空间中执行的平面运动约束条件应用于在三维空间中参数化的机器人姿势。这些约束条件的制定基于传统研究。不过，在本研究中，权衡平面运动约束的信息矩阵是根据车轮里程测量模型和特征匹配数量动态给出的。这些约束条件在 SLAM 图优化框架中得以实现。此外，为了有效应用这些约束条件，系统在 SLAM 初始化过程中使用点云估算机器人和摄像头坐标之间的两个旋转分量，以构建从深度图像中恢复的地面。该系统实现了基于特征的视觉 SLAM 软件。实验结果表明，建议的系统提高了在动态环境中的定位精度和鲁棒性，并改变了摄像头的安装角度。此外，我们还发现，即使在几十米的环境中，平面运动约束也能使 SLAM 系统生成一致的体素图。
{"title":"RGBD-Wheel SLAM System Considering Planar Motion Constraints","authors":"Shinnosuke Kitajima, Kazuo Nakazawa","doi":"10.20965/jrm.2024.p0426","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0426","url":null,"abstract":"In this study, a simultaneous localization and mapping (SLAM) system for a two-wheeled mobile robot was developed in an indoor environment using RGB images, depth images, and wheel odometry. The proposed SLAM system applies planar motion constraints performed by a robot in a two-dimensional space to robot poses parameterized in a three-dimensional space. The formulation of these constraints is based on a conventional study. However, in this study, the information matrices that weigh the planar motion constraints are given dynamically based on the wheel odometry model and the number of feature matches. These constraints are implemented into the SLAM graph optimization framework. In addition, to effectively apply these constraints, the system estimates two of the rotation components between the robot and camera coordinates during SLAM initialization using a point cloud to construct a floor recovered from a depth image. The system implements feature-based Visual SLAM software. The experimental results show that the proposed system improves the localization accuracy and robustness in dynamic environments and changes the camera-mounted angle. In addition, we show that planar motion constraints enable the SLAM system to generate a consistent voxel map, even in an environment of several tens of meters.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140682052","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}
Ryo Nakamura, Masato Domae, T. Morimoto, Takeya Izumikawa, Hiromitsu Fujii
The digitization of the construction site environment has progressed rapidly. In this study, the operations of hydraulic excavators—which are machines widely used in the construction industry—were advanced to enable automation and unmanned operation. To achieve this, it is necessary to determine the environment of the machines at the sites, and a real-time measurement and visualization methodology that can be installed at common construction sites is required. In this study, we propose a measurement system for reconstructing a wide range of surrounding environments using machine-borne sensors mounted on a hydraulic excavator. The proposed system measures the entire surrounding environment using a sensor unit composed of a laser imaging detection and ranging (LiDAR) and a wide-angle camera. Furthermore, methods of time-series integration for wide-range and dynamic measurements during work for occlusion-robust visualization are proposed. In an experiment using actual machines on an earth-moving site, we validated the performance of our proposed system by quantitative evaluation and confirmed that the system provides an effective solution for the digitization of construction sites.
{"title":"Dynamic Visualization of Construction Sites with Machine-Borne Sensors Toward Automated Earth Moving","authors":"Ryo Nakamura, Masato Domae, T. Morimoto, Takeya Izumikawa, Hiromitsu Fujii","doi":"10.20965/jrm.2024.p0294","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0294","url":null,"abstract":"The digitization of the construction site environment has progressed rapidly. In this study, the operations of hydraulic excavators—which are machines widely used in the construction industry—were advanced to enable automation and unmanned operation. To achieve this, it is necessary to determine the environment of the machines at the sites, and a real-time measurement and visualization methodology that can be installed at common construction sites is required. In this study, we propose a measurement system for reconstructing a wide range of surrounding environments using machine-borne sensors mounted on a hydraulic excavator. The proposed system measures the entire surrounding environment using a sensor unit composed of a laser imaging detection and ranging (LiDAR) and a wide-angle camera. Furthermore, methods of time-series integration for wide-range and dynamic measurements during work for occlusion-robust visualization are proposed. In an experiment using actual machines on an earth-moving site, we validated the performance of our proposed system by quantitative evaluation and confirmed that the system provides an effective solution for the digitization of construction sites.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140680972","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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