Pub Date : 2017-09-01DOI: 10.1109/IROS.2017.8206575
Hangxin Liu, Xu Xie, Matt Millar, Mark Edmonds, Feng Gao, Yixin Zhu, V. Santos, B. Rothrock, Song-Chun Zhu
We present a design of an easy-to-replicate glove-based system that can reliably perform simultaneous hand pose and force sensing in real time, for the purpose of collecting human hand data during fine manipulative actions. The design consists of a sensory glove that is capable of jointly collecting data of finger poses, hand poses, as well as forces on palm and each phalanx. Specifically, the sensory glove employs a network of 15 IMUs to measure the rotations between individual phalanxes. Hand pose is then reconstructed using forward kinematics. Contact forces on the palm and each phalanx are measured by 6 customized force sensors made from Velostat, a piezoresistive material whose force-voltage relation is investigated. We further develop an open-source software pipeline consisting of drivers and processing code and a system for visualizing hand actions that is compatible with the popular Raspberry Pi architecture. In our experiment, we conduct a series of evaluations that quantitatively characterize both individual sensors and the overall system, proving the effectiveness of the proposed design.
{"title":"A glove-based system for studying hand-object manipulation via joint pose and force sensing","authors":"Hangxin Liu, Xu Xie, Matt Millar, Mark Edmonds, Feng Gao, Yixin Zhu, V. Santos, B. Rothrock, Song-Chun Zhu","doi":"10.1109/IROS.2017.8206575","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206575","url":null,"abstract":"We present a design of an easy-to-replicate glove-based system that can reliably perform simultaneous hand pose and force sensing in real time, for the purpose of collecting human hand data during fine manipulative actions. The design consists of a sensory glove that is capable of jointly collecting data of finger poses, hand poses, as well as forces on palm and each phalanx. Specifically, the sensory glove employs a network of 15 IMUs to measure the rotations between individual phalanxes. Hand pose is then reconstructed using forward kinematics. Contact forces on the palm and each phalanx are measured by 6 customized force sensors made from Velostat, a piezoresistive material whose force-voltage relation is investigated. We further develop an open-source software pipeline consisting of drivers and processing code and a system for visualizing hand actions that is compatible with the popular Raspberry Pi architecture. In our experiment, we conduct a series of evaluations that quantitatively characterize both individual sensors and the overall system, proving the effectiveness of the proposed design.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"26 1","pages":"6617-6624"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81895985","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 : 2017-09-01DOI: 10.1109/IROS.2017.8202199
Benjamin Shih, Dylan Drotman, C. Christianson, Z. Huo, Ruffin White, H. Christensen, M. Tolley
Robots are becoming increasingly prevalent in our society in forms where they are assisting or interacting with humans in a variety of environments, and thus they must have the ability to sense and detect objects by touch. An ongoing challenge for soft robots has been incorporating flexible sensors that can recognize complex motions and close the loop for tactile sensing. We present sensor skins that enable haptic object visualization when integrated on a soft robotic gripper that can twist an object. First, we investigate how the design of the actuator modules impact bend angle and motion. Each soft finger is molded using a silicone elastomer, and consists of three pneumatic chambers which can be inflated independently to achieve a range of complex motions. Three fingers are combined to form a soft robotic gripper. Then, we manufacture and attach modular, flexible sensory skins on each finger to measure deformation and contact. These sensor measurements are used in conjunction with an analytical model to construct 2D and 3D tactile object models. Our results are a step towards soft robot grippers capable of a complex range of motions and proprioception, which will help future robots better understand the environments with which they interact, and has the potential to increase physical safety in human-robot interaction. Please see the accompanying video for additional details.
{"title":"Custom soft robotic gripper sensor skins for haptic object visualization","authors":"Benjamin Shih, Dylan Drotman, C. Christianson, Z. Huo, Ruffin White, H. Christensen, M. Tolley","doi":"10.1109/IROS.2017.8202199","DOIUrl":"https://doi.org/10.1109/IROS.2017.8202199","url":null,"abstract":"Robots are becoming increasingly prevalent in our society in forms where they are assisting or interacting with humans in a variety of environments, and thus they must have the ability to sense and detect objects by touch. An ongoing challenge for soft robots has been incorporating flexible sensors that can recognize complex motions and close the loop for tactile sensing. We present sensor skins that enable haptic object visualization when integrated on a soft robotic gripper that can twist an object. First, we investigate how the design of the actuator modules impact bend angle and motion. Each soft finger is molded using a silicone elastomer, and consists of three pneumatic chambers which can be inflated independently to achieve a range of complex motions. Three fingers are combined to form a soft robotic gripper. Then, we manufacture and attach modular, flexible sensory skins on each finger to measure deformation and contact. These sensor measurements are used in conjunction with an analytical model to construct 2D and 3D tactile object models. Our results are a step towards soft robot grippers capable of a complex range of motions and proprioception, which will help future robots better understand the environments with which they interact, and has the potential to increase physical safety in human-robot interaction. Please see the accompanying video for additional details.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"32 1","pages":"494-501"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81921057","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 : 2017-09-01DOI: 10.1109/IROS.2017.8206607
P. Kornatowski, S. Mintchev, D. Floreano
Multicopters stand to revolutionize parcel delivery because of their capability to operate in areas with unsuitable road infrastructure and precisely maneuver in cluttered environments. However, current multicopters for delivery can be dangerous for people, and are difficult to store and transport. Safety issues arise because users are exposed to unshielded spinning propellers. Transportation to the place of deployment and storage is often impaired by the large size that is required for heavy lifting. This paper addresses these limitations by proposing the integration of a quadcopter into a foldable protective cage. The cage provides an all-round protective structure that physically separates the propellers from the environment, ensuring the safety of people. The drone and the cage can be easily folded with a single movement, significantly reducing its size for ease of storage and transportation. This design has been validated with a quadcopter that can lift parcels up to 500 g and reduce its storage volume by 92% when folded.
{"title":"An origami-inspired cargo drone","authors":"P. Kornatowski, S. Mintchev, D. Floreano","doi":"10.1109/IROS.2017.8206607","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206607","url":null,"abstract":"Multicopters stand to revolutionize parcel delivery because of their capability to operate in areas with unsuitable road infrastructure and precisely maneuver in cluttered environments. However, current multicopters for delivery can be dangerous for people, and are difficult to store and transport. Safety issues arise because users are exposed to unshielded spinning propellers. Transportation to the place of deployment and storage is often impaired by the large size that is required for heavy lifting. This paper addresses these limitations by proposing the integration of a quadcopter into a foldable protective cage. The cage provides an all-round protective structure that physically separates the propellers from the environment, ensuring the safety of people. The drone and the cage can be easily folded with a single movement, significantly reducing its size for ease of storage and transportation. This design has been validated with a quadcopter that can lift parcels up to 500 g and reduce its storage volume by 92% when folded.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"13 1","pages":"6855-6862"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81943003","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 : 2017-09-01DOI: 10.1109/IROS.2017.8206599
N. Tsiogkas, Valerio De Carolis, D. Lane
Autonomous Underwater Vehicles (AUVs) have been widely used in scientific or industrial operations over the past years. AUV missions require the vehicle to perform a set of actions autonomously and return to the operators. These missions are currently mostly planned offline by the human operators. Existing solutions in commercial planning software usually only provide an estimate of the mission execution time. The uncertain and dynamic underwater environment can have an effect on the mission performance. More time and energy may be required, disallowing successful mission execution. This work proposes the usage of the correlated orienteering problem (COP) that maximises the utility of a sensing mission while respecting energy and time constraints. We propose a heuristic-based on genetic algorithms (GA) for the solution of the COP. This heuristic is compared against optimal mixed-integer quadratic programming (MIQP) solutions. Results show that the quality of the heuristic solution is in the worst tested case 5.5% less than the 1% optimal solutions. The heuristic proves to be at least 3 times more time efficient than the optimal MIQP solutions in the worst case. The heuristic is finally tested on an embedded platform showing its ability to be used on real robotic platforms.
{"title":"Towards an online heuristic method for energy-constrained underwater sensing mission planning","authors":"N. Tsiogkas, Valerio De Carolis, D. Lane","doi":"10.1109/IROS.2017.8206599","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206599","url":null,"abstract":"Autonomous Underwater Vehicles (AUVs) have been widely used in scientific or industrial operations over the past years. AUV missions require the vehicle to perform a set of actions autonomously and return to the operators. These missions are currently mostly planned offline by the human operators. Existing solutions in commercial planning software usually only provide an estimate of the mission execution time. The uncertain and dynamic underwater environment can have an effect on the mission performance. More time and energy may be required, disallowing successful mission execution. This work proposes the usage of the correlated orienteering problem (COP) that maximises the utility of a sensing mission while respecting energy and time constraints. We propose a heuristic-based on genetic algorithms (GA) for the solution of the COP. This heuristic is compared against optimal mixed-integer quadratic programming (MIQP) solutions. Results show that the quality of the heuristic solution is in the worst tested case 5.5% less than the 1% optimal solutions. The heuristic proves to be at least 3 times more time efficient than the optimal MIQP solutions in the worst case. The heuristic is finally tested on an embedded platform showing its ability to be used on real robotic platforms.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"12 1","pages":"6801-6808"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84203614","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 : 2017-09-01DOI: 10.1109/IROS.2017.8206463
Florence Leong, A. Mohammadi, Ying Tan, Denny Thiruchelvam, Pietro Valdastri, D. Oetomo
This paper aims to characterise the magnetic interaction in neighbouring sets of local electromagnetic actuation (LEMA) actuators in a robotic platform for abdominal surgery. The analysis looks into the affect of the magnetic fields contributed by a stator-rotor set (the actuation unit) located adjacent to the rotor of interest. Each rotor drives one of the degree-of-freedoms (DOFs) on a surgical robotic device. In this study, a two-DOF setup is used for the magnetic interaction analysis, which can be expanded to general case n-DOF setup with the Principle of Superposition of magnetic fields from multiple sources. The magnetic model is then used to compute the dynamics of the system, which involves the equation of motion of the rotors and associated robotic mechanism it drives, and the actuator (electrical) model that takes into account the back EMF generated by the permanent magnet rotors. The magnetic field effect of the neighbouring set onto the rotor is observed by obtaining the speed response of the rotor through simulation so that the dynamic model can be validated against the experimental results. The outcomes are useful for the design specification of the LEMA system configuration, involving the feasible / pragmatic distance between the stator sets such that the interference is minimised, and for the design of the necessary control strategy.
{"title":"Magnetic interactions of neighbouring stator sets in multi DOF local electromagnetic actuation for robotic abdominal surgery","authors":"Florence Leong, A. Mohammadi, Ying Tan, Denny Thiruchelvam, Pietro Valdastri, D. Oetomo","doi":"10.1109/IROS.2017.8206463","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206463","url":null,"abstract":"This paper aims to characterise the magnetic interaction in neighbouring sets of local electromagnetic actuation (LEMA) actuators in a robotic platform for abdominal surgery. The analysis looks into the affect of the magnetic fields contributed by a stator-rotor set (the actuation unit) located adjacent to the rotor of interest. Each rotor drives one of the degree-of-freedoms (DOFs) on a surgical robotic device. In this study, a two-DOF setup is used for the magnetic interaction analysis, which can be expanded to general case n-DOF setup with the Principle of Superposition of magnetic fields from multiple sources. The magnetic model is then used to compute the dynamics of the system, which involves the equation of motion of the rotors and associated robotic mechanism it drives, and the actuator (electrical) model that takes into account the back EMF generated by the permanent magnet rotors. The magnetic field effect of the neighbouring set onto the rotor is observed by obtaining the speed response of the rotor through simulation so that the dynamic model can be validated against the experimental results. The outcomes are useful for the design specification of the LEMA system configuration, involving the feasible / pragmatic distance between the stator sets such that the interference is minimised, and for the design of the necessary control strategy.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"28 1","pages":"5723-5729"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84233843","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 : 2017-09-01DOI: 10.1109/IROS.2017.8206195
Masoumeh Mansouri, F. Lagriffoul, F. Pecora
We introduce a variant of the multi-vehicle routing problem which accounts for nonholonomic constraints and dense, dynamic obstacles, called MVRP-DDO. The problem is strongly motivated by an industrial mining application. This paper illustrates how MVRP-DDO relates to other extensions of the vehicle routing problem. We provide an application-independent formulation of MVRP-DDO, as well as a concrete instantiation in a surface mining application. We propose a multi-abstraction search approach to compute an executable plan for the drilling operations of several machines in a very constrained environment. The approach is evaluated in terms of makespan and computation time, both of which are hard industrial requirements.
{"title":"Multi vehicle routing with nonholonomic constraints and dense dynamic obstacles","authors":"Masoumeh Mansouri, F. Lagriffoul, F. Pecora","doi":"10.1109/IROS.2017.8206195","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206195","url":null,"abstract":"We introduce a variant of the multi-vehicle routing problem which accounts for nonholonomic constraints and dense, dynamic obstacles, called MVRP-DDO. The problem is strongly motivated by an industrial mining application. This paper illustrates how MVRP-DDO relates to other extensions of the vehicle routing problem. We provide an application-independent formulation of MVRP-DDO, as well as a concrete instantiation in a surface mining application. We propose a multi-abstraction search approach to compute an executable plan for the drilling operations of several machines in a very constrained environment. The approach is evaluated in terms of makespan and computation time, both of which are hard industrial requirements.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"10 1","pages":"3522-3529"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84471609","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 : 2017-09-01DOI: 10.1109/IROS.2017.8206352
Nikola-Zlatkov Georgiev, J. Burdick
This paper is concerned with the analysis, design, and prototyping of rotary planar springs for robotics applications such as rotary series elastic actuators, or mechanical couplings. The key contribution is the development of a mathematical model, based on curved beam theory, that allows rapid design, analysis, and optimization of rotary springs that have arbitrary arm shape. The paper also introduces methods to reduce the spring mass via composite arm structures, or arm cutouts. A prototype is designed, analyzed and tested to demonstrate the validity of the model.
{"title":"Design and analysis of planar rotary springs","authors":"Nikola-Zlatkov Georgiev, J. Burdick","doi":"10.1109/IROS.2017.8206352","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206352","url":null,"abstract":"This paper is concerned with the analysis, design, and prototyping of rotary planar springs for robotics applications such as rotary series elastic actuators, or mechanical couplings. The key contribution is the development of a mathematical model, based on curved beam theory, that allows rapid design, analysis, and optimization of rotary springs that have arbitrary arm shape. The paper also introduces methods to reduce the spring mass via composite arm structures, or arm cutouts. A prototype is designed, analyzed and tested to demonstrate the validity of the model.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"13 1","pages":"4777-4784"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84986305","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 : 2017-09-01DOI: 10.1109/IROS.2017.8206136
M. Grammatikopoulou, Lin Zhang, Guang-Zhong Yang
Six degree-of-freedom (DoF) pose feedback is essential for the development of closed-loop control techniques for microrobotics. This paper presents two methods for depth estimation of transparent microrobots inside an Optical Tweezers (OT) setup using image sharpness measurements and model-based tracking. The x-y position and the 3D orientation of the object are estimated using online model-based template matching. The proposed depth estimation methodologies are validated experimentally by comparing the results with the ground truth.
{"title":"Depth estimation of optically transparent laser-driven microrobots","authors":"M. Grammatikopoulou, Lin Zhang, Guang-Zhong Yang","doi":"10.1109/IROS.2017.8206136","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206136","url":null,"abstract":"Six degree-of-freedom (DoF) pose feedback is essential for the development of closed-loop control techniques for microrobotics. This paper presents two methods for depth estimation of transparent microrobots inside an Optical Tweezers (OT) setup using image sharpness measurements and model-based tracking. The x-y position and the 3D orientation of the object are estimated using online model-based template matching. The proposed depth estimation methodologies are validated experimentally by comparing the results with the ground truth.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"34 1","pages":"2994-2999"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85379759","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 : 2017-09-01DOI: 10.1109/IROS.2017.8205993
Byungjune Choi, Younbaek Lee, Yong-Jae Kim, Jongwon Lee, Minhyung Lee, S. Roh, Young Jin Park, Kyungrock Kim, Y. Shim
This paper presents an adjustable knee mechanism for walking assistance devices for the elderly to provide physical gait assistance. The adjustable knee mechanism can assist in flexion/extension motions of the knee joint and compensate for the transitional movements of the knee in the sagittal plane as well as aligning the frontal plane. In order to compensate for the center of rotation, the proposed adjustable knee mechanism is implemented by connecting several rolling cams with unique and precisely calculated contact geometries. The key idea of the proposed mechanism is to realize linear motion and accurate torque transmission by a pulley method using the rolling joint in which the distance of the center between the rolling cams is changed. The proposed articulated joint can effectively deliver the torque required for assistance while adapting to the joint motion of the wearer. This paper describes the mechanical design of this knee mechanism and its implementation on a wearable robot and in preliminary experiments. The performance of the proposed mechanism was verified by simulations and experiments.
{"title":"Development of adjustable knee joint for walking assistance devices","authors":"Byungjune Choi, Younbaek Lee, Yong-Jae Kim, Jongwon Lee, Minhyung Lee, S. Roh, Young Jin Park, Kyungrock Kim, Y. Shim","doi":"10.1109/IROS.2017.8205993","DOIUrl":"https://doi.org/10.1109/IROS.2017.8205993","url":null,"abstract":"This paper presents an adjustable knee mechanism for walking assistance devices for the elderly to provide physical gait assistance. The adjustable knee mechanism can assist in flexion/extension motions of the knee joint and compensate for the transitional movements of the knee in the sagittal plane as well as aligning the frontal plane. In order to compensate for the center of rotation, the proposed adjustable knee mechanism is implemented by connecting several rolling cams with unique and precisely calculated contact geometries. The key idea of the proposed mechanism is to realize linear motion and accurate torque transmission by a pulley method using the rolling joint in which the distance of the center between the rolling cams is changed. The proposed articulated joint can effectively deliver the torque required for assistance while adapting to the joint motion of the wearer. This paper describes the mechanical design of this knee mechanism and its implementation on a wearable robot and in preliminary experiments. The performance of the proposed mechanism was verified by simulations and experiments.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"74 1","pages":"1790-1797"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85859698","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 : 2017-09-01DOI: 10.1109/IROS.2017.8206428
H. Jaspers, Dennis Fassbender, Hans-Joachim Wünsche
In this paper, we propose a system for autonomous vehicle following without a line of sight. From monocular camera images, the leading vehicle extracts scene descriptors which it transmits to the following vehicle by means of vehicle-to-vehicle (V2V) communication. The follower is able to recognize the scenes using its own camera and follow autonomously. A particle filter framework is employed for jump-free localization on the driven path of the leading vehicle. We compare the performance of different place features for accurate localization on a custom application-oriented dataset and evaluate methods to reduce the feature size for low-bandwidth V2V communication, while maintaining and even improving the recognition performance. Real-world results demonstrate the applicability of our system.
{"title":"Visual navigation with efficient ConvNet features","authors":"H. Jaspers, Dennis Fassbender, Hans-Joachim Wünsche","doi":"10.1109/IROS.2017.8206428","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206428","url":null,"abstract":"In this paper, we propose a system for autonomous vehicle following without a line of sight. From monocular camera images, the leading vehicle extracts scene descriptors which it transmits to the following vehicle by means of vehicle-to-vehicle (V2V) communication. The follower is able to recognize the scenes using its own camera and follow autonomously. A particle filter framework is employed for jump-free localization on the driven path of the leading vehicle. We compare the performance of different place features for accurate localization on a custom application-oriented dataset and evaluate methods to reduce the feature size for low-bandwidth V2V communication, while maintaining and even improving the recognition performance. Real-world results demonstrate the applicability of our system.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"69 1","pages":"5340-5345"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85872896","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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