Pub Date : 2019-08-12DOI: 10.1109/ICRA.2019.8794133
Julian Jordan, A. Zell
This work presents a model based traversability analysis method which employs a detailed vehicle model to perform real-time path planning in complex environments. The vehicle model represents the vehicle’s wheels and chassis, allowing it to accurately predict the vehicles 3D pose, detailed contact information for each wheel and the occurrence of a chassis collision given a 2D pose on an elevation map. These predictions are weighted, depending on the safety requirements of the vehicle, to provide a scoring function for an A*-like search strategy. The proposed method is designed to run at frame rates of 30Hz on data from a RGB-D sensor to provide reactive planning of safe paths. For evaluation, two wheeled mobile robots in different simulated and real world environment setups were tested to show the reliability and performance of the proposed method.
{"title":"Real-time Model Based Path Planning for Wheeled Vehicles","authors":"Julian Jordan, A. Zell","doi":"10.1109/ICRA.2019.8794133","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794133","url":null,"abstract":"This work presents a model based traversability analysis method which employs a detailed vehicle model to perform real-time path planning in complex environments. The vehicle model represents the vehicle’s wheels and chassis, allowing it to accurately predict the vehicles 3D pose, detailed contact information for each wheel and the occurrence of a chassis collision given a 2D pose on an elevation map. These predictions are weighted, depending on the safety requirements of the vehicle, to provide a scoring function for an A*-like search strategy. The proposed method is designed to run at frame rates of 30Hz on data from a RGB-D sensor to provide reactive planning of safe paths. For evaluation, two wheeled mobile robots in different simulated and real world environment setups were tested to show the reliability and performance of the proposed method.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84088539","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 : 2019-08-12DOI: 10.1109/ICRA.2019.8794434
Sergi Molina Mellado, Grzegorz Cielniak, T. Duckett
Understanding how people are likely to behave in an environment is a key requirement for efficient and safe robot navigation. However, mobile platforms are subject to spatial and temporal constraints, meaning that only partial observations of human activities are typically available to a robot, while the activity patterns of people in a given environment may also change at different times. To address these issues we present as the main contribution an exploration strategy for acquiring models of pedestrian flows, which decides not only the locations to explore but also the times when to explore them. The approach is driven by the uncertainty from multiple Poisson processes built from past observations. The approach is evaluated using two long-term pedestrian datasets, comparing its performance against uninformed exploration strategies. The results show that when using the uncertainty in the exploration policy, model accuracy increases, enabling faster learning of human motion patterns.
{"title":"Go with the Flow: Exploration and Mapping of Pedestrian Flow Patterns from Partial Observations","authors":"Sergi Molina Mellado, Grzegorz Cielniak, T. Duckett","doi":"10.1109/ICRA.2019.8794434","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794434","url":null,"abstract":"Understanding how people are likely to behave in an environment is a key requirement for efficient and safe robot navigation. However, mobile platforms are subject to spatial and temporal constraints, meaning that only partial observations of human activities are typically available to a robot, while the activity patterns of people in a given environment may also change at different times. To address these issues we present as the main contribution an exploration strategy for acquiring models of pedestrian flows, which decides not only the locations to explore but also the times when to explore them. The approach is driven by the uncertainty from multiple Poisson processes built from past observations. The approach is evaluated using two long-term pedestrian datasets, comparing its performance against uninformed exploration strategies. The results show that when using the uncertainty in the exploration policy, model accuracy increases, enabling faster learning of human motion patterns.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90281797","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 : 2019-08-12DOI: 10.1109/ICRA.2019.8794249
Nicholas P. Castledine, J. Boyle, Jongrae Kim
This paper presents the development of a tendon-driven continuum robot segment with a modular design, simple construction and significant lifting capabilities. The segment features a continuous flexible core combined with rigid interlocking vertebrae evenly distributed along its length. This design allows bending in two degrees of freedom while minimising torsional movement. The segment is actuated by two antagonistic tendon pairs, each of which is driven by a single geared DC motor. Modularity is achieved by embedding these motors in one end of the segment, avoiding the need for a bulky actuation unit and allowing variable numbers of segments to be connected. The design features a large hollow central bore which could be used as a vacuum channel for suction-assisted gripping or to allow ingress and egress of fluids. The design process goes through four iterations, the final two of which are subjected to quantitative experiments to evaluate workspace, lifting capabilities and torsional rigidity. All iterations are fabricated using multi-material 3D printing, which allows the entire structure to be printed as a pre-assembled unit with the rigid vertebrae fused to the flexible core. Assembly is then a simple case of inserting the motors and connecting the tendons. This unconventional manufacturing approach is found to be efficient, effective and relatively cheap.
{"title":"Design of a Modular Continuum Robot Segment for use in a General Purpose Manipulator*","authors":"Nicholas P. Castledine, J. Boyle, Jongrae Kim","doi":"10.1109/ICRA.2019.8794249","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794249","url":null,"abstract":"This paper presents the development of a tendon-driven continuum robot segment with a modular design, simple construction and significant lifting capabilities. The segment features a continuous flexible core combined with rigid interlocking vertebrae evenly distributed along its length. This design allows bending in two degrees of freedom while minimising torsional movement. The segment is actuated by two antagonistic tendon pairs, each of which is driven by a single geared DC motor. Modularity is achieved by embedding these motors in one end of the segment, avoiding the need for a bulky actuation unit and allowing variable numbers of segments to be connected. The design features a large hollow central bore which could be used as a vacuum channel for suction-assisted gripping or to allow ingress and egress of fluids. The design process goes through four iterations, the final two of which are subjected to quantitative experiments to evaluate workspace, lifting capabilities and torsional rigidity. All iterations are fabricated using multi-material 3D printing, which allows the entire structure to be printed as a pre-assembled unit with the rigid vertebrae fused to the flexible core. Assembly is then a simple case of inserting the motors and connecting the tendons. This unconventional manufacturing approach is found to be efficient, effective and relatively cheap.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77329127","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 : 2019-08-12DOI: 10.1109/ICRA.2019.8794284
Mohamed S. Talamali, James A. R. Marshall, Thomas Bose, A. Reina
We investigate decentralised decision-making, in which a robot swarm is tasked with selecting the best-quality option among a set of alternatives. Individual robots are simplistic as they only perform diffusive search, make local noisy estimates of the options’ quality, and exchange information with near neighbours. We propose a decentralised algorithm, inspired by house-hunting honeybees, to efficiently aggregate noisy estimations. Individual robots, by varying over time a single decentralised parameter that modulates the interaction strength, balance exploration and agreement. In this way, the swarm first identifies the options under consideration, then rapidly converges on the best available option, even when outnumbered by lower quality options. We present stochastic analyses and swarm robotics simulations to compare the novel strategy with previous methods and to quantify the performance improvement. The proposed strategy limits the spreading of errors within the population and allows swarms of simple noisy units with minimal communication capabilities to make highly accurate collective decisions in predictable time.
{"title":"Improving collective decision accuracy via time-varying cross-inhibition","authors":"Mohamed S. Talamali, James A. R. Marshall, Thomas Bose, A. Reina","doi":"10.1109/ICRA.2019.8794284","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794284","url":null,"abstract":"We investigate decentralised decision-making, in which a robot swarm is tasked with selecting the best-quality option among a set of alternatives. Individual robots are simplistic as they only perform diffusive search, make local noisy estimates of the options’ quality, and exchange information with near neighbours. We propose a decentralised algorithm, inspired by house-hunting honeybees, to efficiently aggregate noisy estimations. Individual robots, by varying over time a single decentralised parameter that modulates the interaction strength, balance exploration and agreement. In this way, the swarm first identifies the options under consideration, then rapidly converges on the best available option, even when outnumbered by lower quality options. We present stochastic analyses and swarm robotics simulations to compare the novel strategy with previous methods and to quantify the performance improvement. The proposed strategy limits the spreading of errors within the population and allows swarms of simple noisy units with minimal communication capabilities to make highly accurate collective decisions in predictable time.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76542591","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 : 2019-08-12DOI: 10.1109/ICRA.2019.8794374
A. Seddaoui, C. Saaj, S. Eckersley
A space robot working in a controlled-floating mode can be used for performing in-orbit telescope assembly through simultaneously controlling the motion of the spacecraft base and its robotic arm. Handling and assembling optical mirrors requires the space robot to achieve slow and precise manoeuvres regardless of the disturbances and errors in the trajectory. The robustness offered by the nonlinear H∞ controller, in the presence of environmental disturbances and parametric uncertainties, makes it a viable solution. However, using fixed tuning parameters for this controller does not always result in the desired performance as the arm’s trajectory is not known a priori for orbital assembly missions. In this paper, a complete study on the impact of the different tuning parameters is performed and a new adaptive H∞ controller is developed based on bounded functions. The simulation results presented show that the proposed adaptive H∞ controller guarantees robustness and precise tracking using a minimal amount of forces and torques for assembly operations using a small space robot.
{"title":"Adaptive H∞ Controller for Precise Manoeuvring of a Space Robot","authors":"A. Seddaoui, C. Saaj, S. Eckersley","doi":"10.1109/ICRA.2019.8794374","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794374","url":null,"abstract":"A space robot working in a controlled-floating mode can be used for performing in-orbit telescope assembly through simultaneously controlling the motion of the spacecraft base and its robotic arm. Handling and assembling optical mirrors requires the space robot to achieve slow and precise manoeuvres regardless of the disturbances and errors in the trajectory. The robustness offered by the nonlinear H∞ controller, in the presence of environmental disturbances and parametric uncertainties, makes it a viable solution. However, using fixed tuning parameters for this controller does not always result in the desired performance as the arm’s trajectory is not known a priori for orbital assembly missions. In this paper, a complete study on the impact of the different tuning parameters is performed and a new adaptive H∞ controller is developed based on bounded functions. The simulation results presented show that the proposed adaptive H∞ controller guarantees robustness and precise tracking using a minimal amount of forces and torques for assembly operations using a small space robot.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77769516","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 : 2019-08-12DOI: 10.1109/ICRA.2019.8794354
M. Xaud, A. C. Leite, P. From
This work proposes a new strategy for autonomous navigation of mobile robots in sugarcane plantations based on thermal imaging. Unlike ordinary agricultural fields, sugarcane farms are generally vast and accommodates numerous arrangements of row crop tunnels, which are very tall, dense and hard-to-access. Moreover, sugarcane crops lie in harsh regions, which hinder the logistics for employing staff and heavy machinery for mapping, monitoring, and sampling. One solution for this problem is TIBA (Tankette for Intelligent BioEnergy Agriculture), a low-cost skid-steering mobile robot capable of infiltrating the crop tunnels with several sensing/sampling systems. The project concept is to reduce the product cost for making the deployment of a robot swarm feasible over a larger area. A prototype was built and tested in a bioenergy farm in order to improve the understanding of the environment and bring about the challenges for the next development steps. The major problem is the navigation through the crop tunnels, since most of the developed systems are suitable for open field operations and employ laser scanners and/or GPS/IMU, which in general are expensive technologies. In this context, we propose a low-cost solution based on infrared (IR) thermal imaging. IR cameras are simple and inexpensive devices, which do not pose risks to the user health, unlike laser-based sensors. This idea was highly motivated by the data collected in the field, which have shown a significant temperature difference between the ground and the crop. From the image analysis, it is possible to clearly visualize a distinguishable corridor and, consequently, generate a straight path for the robot to follow by using computationally efficient approaches. A rigorous analysis of the collected thermal data, numerical simulations and preliminary experiments in the real environment were included to illustrate the efficiency and feasibility of the proposed navigation methodology.
{"title":"Thermal Image Based Navigation System for Skid-Steering Mobile Robots in Sugarcane Crops*","authors":"M. Xaud, A. C. Leite, P. From","doi":"10.1109/ICRA.2019.8794354","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794354","url":null,"abstract":"This work proposes a new strategy for autonomous navigation of mobile robots in sugarcane plantations based on thermal imaging. Unlike ordinary agricultural fields, sugarcane farms are generally vast and accommodates numerous arrangements of row crop tunnels, which are very tall, dense and hard-to-access. Moreover, sugarcane crops lie in harsh regions, which hinder the logistics for employing staff and heavy machinery for mapping, monitoring, and sampling. One solution for this problem is TIBA (Tankette for Intelligent BioEnergy Agriculture), a low-cost skid-steering mobile robot capable of infiltrating the crop tunnels with several sensing/sampling systems. The project concept is to reduce the product cost for making the deployment of a robot swarm feasible over a larger area. A prototype was built and tested in a bioenergy farm in order to improve the understanding of the environment and bring about the challenges for the next development steps. The major problem is the navigation through the crop tunnels, since most of the developed systems are suitable for open field operations and employ laser scanners and/or GPS/IMU, which in general are expensive technologies. In this context, we propose a low-cost solution based on infrared (IR) thermal imaging. IR cameras are simple and inexpensive devices, which do not pose risks to the user health, unlike laser-based sensors. This idea was highly motivated by the data collected in the field, which have shown a significant temperature difference between the ground and the crop. From the image analysis, it is possible to clearly visualize a distinguishable corridor and, consequently, generate a straight path for the robot to follow by using computationally efficient approaches. A rigorous analysis of the collected thermal data, numerical simulations and preliminary experiments in the real environment were included to illustrate the efficiency and feasibility of the proposed navigation methodology.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88128535","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 : 2019-08-12DOI: 10.1109/ICRA.2019.8794002
Isaac Vandermeulen, Roderich Groß, A. Kolling
Multirobot coverage is the problem of planning paths for several identical robots such that the combined regions traced out by the robots completely cover their environment. We consider the problem of multirobot coverage with the objective of minimizing the mission time, which depends on the number of turns taken by the robots. To solve this problem, we first partition the environment into ranks which are long thin rectangles the width of the robot’s coverage tool. Our novel partitioning heuristic produces a set of ranks which minimizes the number of turns. Next, we solve a variant of the multiple travelling salesperson problem (m-TSP) on the set of ranks to minimize the robots’ mission time. The resulting coverage plan is guaranteed to cover the entire environment. We present coverage plans for a robotic vacuum using real maps of 25 indoor environments and compare the solutions to paths planned without the objective of minimizing turns. Turn minimization reduced the number of turns by 6.7% and coverage time by 3.8% on average for teams of 1–5 robots.
{"title":"Turn-minimizing multirobot coverage","authors":"Isaac Vandermeulen, Roderich Groß, A. Kolling","doi":"10.1109/ICRA.2019.8794002","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794002","url":null,"abstract":"Multirobot coverage is the problem of planning paths for several identical robots such that the combined regions traced out by the robots completely cover their environment. We consider the problem of multirobot coverage with the objective of minimizing the mission time, which depends on the number of turns taken by the robots. To solve this problem, we first partition the environment into ranks which are long thin rectangles the width of the robot’s coverage tool. Our novel partitioning heuristic produces a set of ranks which minimizes the number of turns. Next, we solve a variant of the multiple travelling salesperson problem (m-TSP) on the set of ranks to minimize the robots’ mission time. The resulting coverage plan is guaranteed to cover the entire environment. We present coverage plans for a robotic vacuum using real maps of 25 indoor environments and compare the solutions to paths planned without the objective of minimizing turns. Turn minimization reduced the number of turns by 6.7% and coverage time by 3.8% on average for teams of 1–5 robots.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91202000","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 : 2019-08-12DOI: 10.1109/ICRA.2019.8793534
Tomáš Vintr, Zhi Yan, T. Duckett, T. Krajník
We propose an efficient spatio-temporal model for mobile autonomous robots operating in human populated environments. Our method aims to model periodic temporal patterns of people presence, which are based on peoples’ routines and habits. The core idea is to project the time onto a set of wrapped dimensions that represent the periodicities of people presence. Extending a 2D spatial model with this multidimensional representation of time results in a memory efficient spatio-temporal model. This model is capable of long-term predictions of human presence, allowing mobile robots to schedule their services better and to plan their paths. The experimental evaluation, performed over datasets gathered by a robot over a period of several weeks, indicates that the proposed method achieves more accurate predictions than the previous state of the art used in robotics.
{"title":"Spatio-temporal representation for long-term anticipation of human presence in service robotics","authors":"Tomáš Vintr, Zhi Yan, T. Duckett, T. Krajník","doi":"10.1109/ICRA.2019.8793534","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793534","url":null,"abstract":"We propose an efficient spatio-temporal model for mobile autonomous robots operating in human populated environments. Our method aims to model periodic temporal patterns of people presence, which are based on peoples’ routines and habits. The core idea is to project the time onto a set of wrapped dimensions that represent the periodicities of people presence. Extending a 2D spatial model with this multidimensional representation of time results in a memory efficient spatio-temporal model. This model is capable of long-term predictions of human presence, allowing mobile robots to schedule their services better and to plan their paths. The experimental evaluation, performed over datasets gathered by a robot over a period of several weeks, indicates that the proposed method achieves more accurate predictions than the previous state of the art used in robotics.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85864847","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 : 2019-08-12DOI: 10.1109/ICRA.2019.8794038
Benjamin Gautier, Harun Tugal, B. Tang, G. Nabi, M. S. Erden
Assessment of minimally invasive surgical skills is a non-trivial task, usually requiring the presence and time of expert observers, including subjectivity and requiring special and expensive equipment and software. This study develops an algorithm for tracking laparoscopy instruments in the video cues of a standard laparoscopy training box with a single webcam camera and proposes new criteria to assess skill level using the extracted tool trajectories. Instrument tracking and assessment criteria together constitute a significant step towards developing a low cost, automated, and widely applicable laparoscopy training and assessment system using a standard physical training box equipped with a webcam. The developed visual tracking algorithm recovers the 3D positions of the laparoscopic instruments tips to which simple colored tapes (markers) are attached. The new assessment criteria are based on frequency analysis and linear discriminant analysis of the 3D reconstructed trajectories of the instruments. The performance of these proposed criteria are compared to the conventional criteria for laparoscopy training and demonstrated to be superior on the data we have recorded from six professional laparoscopy surgeons and ten novice subjects.
{"title":"Laparoscopy instrument tracking for single view camera and skill assessment","authors":"Benjamin Gautier, Harun Tugal, B. Tang, G. Nabi, M. S. Erden","doi":"10.1109/ICRA.2019.8794038","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794038","url":null,"abstract":"Assessment of minimally invasive surgical skills is a non-trivial task, usually requiring the presence and time of expert observers, including subjectivity and requiring special and expensive equipment and software. This study develops an algorithm for tracking laparoscopy instruments in the video cues of a standard laparoscopy training box with a single webcam camera and proposes new criteria to assess skill level using the extracted tool trajectories. Instrument tracking and assessment criteria together constitute a significant step towards developing a low cost, automated, and widely applicable laparoscopy training and assessment system using a standard physical training box equipped with a webcam. The developed visual tracking algorithm recovers the 3D positions of the laparoscopic instruments tips to which simple colored tapes (markers) are attached. The new assessment criteria are based on frequency analysis and linear discriminant analysis of the 3D reconstructed trajectories of the instruments. The performance of these proposed criteria are compared to the conventional criteria for laparoscopy training and demonstrated to be superior on the data we have recorded from six professional laparoscopy surgeons and ten novice subjects.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80090303","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 : 2019-08-12DOI: 10.1109/ICRA.2019.8794255
Samuel Bryner, Guillermo Gallego, Henri Rebecq, D. Scaramuzza
Event cameras are novel bio-inspired vision sensors that output pixel-level intensity changes, called “events”, instead of traditional video images. These asynchronous sensors naturally respond to motion in the scene with very low latency (microseconds) and have a very high dynamic range. These features, along with a very low power consumption, make event cameras an ideal sensor for fast robot localization and wearable applications, such as AR/VR and gaming. Considering these applications, we present a method to track the 6-DOF pose of an event camera in a known environment, which we contemplate to be described by a photometric 3D map (i.e., intensity plus depth information) built via classic dense 3D reconstruction algorithms. Our approach uses the raw events, directly, without intermediate features, within a maximum-likelihood framework to estimate the camera motion that best explains the events via a generative model. We successfully evaluate the method using both simulated and real data, and show improved results over the state of the art. We release the datasets to the public to foster reproducibility and research in this topic.
{"title":"Event-based, Direct Camera Tracking from a Photometric 3D Map using Nonlinear Optimization","authors":"Samuel Bryner, Guillermo Gallego, Henri Rebecq, D. Scaramuzza","doi":"10.1109/ICRA.2019.8794255","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794255","url":null,"abstract":"Event cameras are novel bio-inspired vision sensors that output pixel-level intensity changes, called “events”, instead of traditional video images. These asynchronous sensors naturally respond to motion in the scene with very low latency (microseconds) and have a very high dynamic range. These features, along with a very low power consumption, make event cameras an ideal sensor for fast robot localization and wearable applications, such as AR/VR and gaming. Considering these applications, we present a method to track the 6-DOF pose of an event camera in a known environment, which we contemplate to be described by a photometric 3D map (i.e., intensity plus depth information) built via classic dense 3D reconstruction algorithms. Our approach uses the raw events, directly, without intermediate features, within a maximum-likelihood framework to estimate the camera motion that best explains the events via a generative model. We successfully evaluate the method using both simulated and real data, and show improved results over the state of the art. We release the datasets to the public to foster reproducibility and research in this topic.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80380608","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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