Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedEVT9 Fenix 1 <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 15:00–16:00<br />
Vision for Segmentation and Servoing<br />
Chair Aaron Bobick, Georgia Tech.<br />
Co-Chair Dongheui Lee, Tech. Univ. of Munich<br />
15:00–15:15 WedEVT9.1<br />
Guided Pushing for Object Singulation<br />
Tucker Hermans James M. Rehg<br />
Aaron F. Bobick<br />
Robotics and Intelligent Machines<br />
School of Interactive Computing<br />
Georgia Institute of Technology, USA<br />
• Desire to separate and segment all<br />
objects in the scene<br />
• Accomplish through pushing<br />
• Object boundaries lie on image edges<br />
• Objects split at the vertical plane<br />
through the edge<br />
• Push parallel to thisedge through the<br />
predicted objectcentroid<br />
• Quantize candidate boundary<br />
orientations for each point cloud cluster<br />
• Stop pushing when all non-empty<br />
directions have been tested<br />
15:30–15:45 WedEVT9.3<br />
Robust Visual Servoing for Object Manipulation<br />
with Large Time-Delays of Visual Information<br />
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume<br />
and Tsutomu Hasegawa<br />
• New visual servoing method for object<br />
manipulation robust to time-delays is proposed<br />
• That is robust to<br />
Kyushu University, Japan<br />
� Time-delay caused by low sampling rate<br />
� Time-delay caused by image processing<br />
and data transmission latency<br />
• Virtual object frame is utilized effectively<br />
• Usefulness is demonstrated by numerical<br />
simulations and experiments.<br />
Actual frame and virtual frame<br />
15:50–15:55 WedEVT9.5<br />
Ascending Stairway Modeling: A First Step<br />
Toward Autonomous Multi-Floor Exploration<br />
Jeffrey Delmerico, Jason Corso and Julian Ryde<br />
Dept. of Computer Science and Engineering, SUNY Buffalo, USA<br />
David Baran and Philip David<br />
US Army Research Laboratory, USA<br />
• Goal: autonomous multi-floor<br />
exploration by ground robots.<br />
• Discover stairways in environment<br />
during mapping and assess their<br />
traversability.<br />
• System will permit path planning to<br />
consider stairways among<br />
traversable terrain.<br />
• Robust detector and accurate<br />
modeling procedure; sufficient to<br />
determine step dimensions to<br />
within 2cm.<br />
Overview of stairway modeling system: stair<br />
detection in depth imagery, aggregation of<br />
extracted step edge point clouds, and<br />
generative model fitting.<br />
15:15–15:30 WedEVT9.2<br />
Segmentation of Unknown Objects<br />
in Indoor Environments<br />
A. Richtsfeld, T. Mörwald, J. Prankl, M. Zillich, M.Vincze<br />
Automation and Control Institute (ACIN),<br />
Vienna University of Technology, Austria<br />
• Learning segmentation of unknown<br />
objects from RGB-D images in a<br />
hierarchical data abstraction framework<br />
• Data abstraction of RGB-D images to<br />
parametric surface patches.<br />
• Learning of perceptual grouping rules with<br />
support vector machines (SVM)<br />
• Globally optimal segmentation using<br />
Graph-Cut on SVM predictions<br />
15:45–15:50 WedEVT9.4<br />
Tire Mounting on a Car Using the Real-Time<br />
Control Architecture ARCADE<br />
Thomas Nierhoff, Lei Lou, Vasiliki Koropouli, Martin Eggers,<br />
Timo Fritzsch, Omiros Kourakos, Kolja Kühnlenz<br />
Dongheui Lee, Bernd Radig, Martin Buss, Sandra Hirche<br />
Technische Universität München, Germany<br />
• ARCADE architecture:<br />
- hard real-time scheduling,<br />
- asynchronous remote<br />
procedure call,<br />
- hardware-in-the-loop<br />
development<br />
• Increasing functional modules:<br />
- autonomous navigation,<br />
- haptic interaction/perception,<br />
- human-robot/multi-robot cooperation<br />
• Challenges for control:<br />
- stability of closed kinematic chains, transfer of human motions to robots<br />
• Challenges for perception<br />
- robust object detection in large rooms, whole environment perception<br />
15:55–16:00 WedEVT9.6<br />
Low cost MAV platform AR-drone in experimental verifications<br />
of methods for vision based autonomous navigation<br />
Martin Saska, Tomáš Krajník, Jan Faigl, Vojtěch Vonásek and Libor Přeučil<br />
Department of Cybernetics, Faculty of Electrical Engineering,<br />
Czech Technical University in Prague, Czech Republic.<br />
• Video: a sequence of various Micro Aerial<br />
Vehicle (MAV) applications and research<br />
experiments with AR-Drone playing the<br />
main role. http://imr.felk.cvut.cz/demos/videos/drone/<br />
• The presented methods rely on visual<br />
navigation and localization using on-board<br />
cameras of the AR-drone employed in the<br />
control feedback.<br />
• The aim is to demonstrate flight performance<br />
of this platform in real world tasks.<br />
• Applications: 1) MAV-UGV teams for<br />
inspection of inaccessible areas; 2) Autonomous<br />
flight in outdoor environment with<br />
human-MAV interaction; 3) AR-Drone as<br />
an ad-hoc external localization unit for<br />
multi-robot applications; 4) MAV for<br />
verification of localization uncertainty<br />
decrease in an autonomous inspection<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–170–<br />
Mobile<br />
heliport<br />
UGV camera<br />
UAV<br />
UAV<br />
camera<br />
Autonomous inspection of inaccessible<br />
areas by MAV-UGV teams