Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedFT1 Pegaso A Wednesday, October 10, 2012, 16:15–17:30
Estimation and Sensor Fusion
Chair Li-Chen Fu, National Taiwan Univ.
Co-Chair
16:15–16:30 WedFT1.1
Contactless deflection sensing of concave and
convex shapes assisted by soft mirrors
Michal Karol Dobrzynski, Ionut Halasz, Ramon Pericet-Camara
and Dario Floreano
Laboratory of Intelligent Systems,
Ecole Polytechnique Federale de Lausanne, Switzerland
• Deflection sensor capable of concave
and convex shape estimation with no
impact on the deflected substrate
softness.
• Dynamic range of 130° with 0.8°
resolution and 400Hz data acquisition.
• Analytical model in good agreement
with measurements (average error of
8%)
• Novel quick manufacturing method for
soft PDMS mirrors based
on surface tension.
Top: Sensor in standard configuration perceives
concave deflections only; Middle and bottom:
By attaching a customized mirror the range can
be extended towards convex deflections.
16:45–17:00 WedFT1.3
Manipulator State Estimation with Low Cost
Accelerometers and Gyroscopes
Philip Roan and Nikhil Deshpande
Robert Bosch LLC, USA and North Carolina State University, USA
Yizhou Wang and Benjamin Pitzer
University of California, Berkeley, USA and Robert Bosch LLC, USA
• Estimate manipulator joint angles using
triaxial accelerometers and uniaxial
gyroscopes
• Comparing three different compensation
strategies:
• Complementary Filter
• Time Varying Complementary Filter
• Extended Kalman Filter
• Mean error of 1.3° over the joints
estimated, resulting in end-effector errors
of 6.1 mm or less
A generic joint between two links
showing how accelerometers and
gyroscopes are mounted.
17:15–17:30 WedFT1.5
Sensor Fusion Based Human Detection and
Tracking System for Human-Robot Interaction
Kai Siang Ong, Yuan Han Hsu, and Li Chen Fu, Fellow, IEEE
Department of Computer Science & Information Engineering,
Department of Electrical Engineering
National Taiwan University, Taiwan, R.O.C.
• Integrating the information of laser
range finder and that from vision
sensor using Covariance
Intersection algorithm
• Propose a behavior-response
system:
(1) human behavior‘s inference
(2) robot reaction
• For Human Behavior Intention
Inference, we take the proxemics
framework into consideration.
Public Space
Interaction Space
vlrf
d
f
x f , y f
θia , θ fd
16:30–16:45 WedFT1.2
Deformable Structure From Motion by Fusing
Visual and Inertial Measurement Data
Stamatia Giannarou, Zhiqiang Zhang, Guang-Zhong Yang
Hamlyn Centre for Robotic Surgery, Imperial College London, UK
• 3D reconstruction of a deforming surgical
environment in MIS is important for intraoperative
guidance.
• A novel adaptive UKF parameterization
scheme is proposed to fuse vision
information with data from an Inertial
Measurement Unit for accurate 3D
reconstruction.
• A direct application of the proposed
framework is free-form deformation
recovery to enable adaptive motion
stabilization and visual servoing in
robotically assisted laparoscopic surgery.
17:00–17:15 WedFT1.4
Vision-Aided Inertial Navigation
Using Virtual Features
Chiara Troiani and Agostino Martinelli
INRIA Rhone Alpes, France
• MAV equipped with a monocular camera
and a laser pointer mounted on a fixed
baseline and an IMU
• Unique point feature used: laser spot
projected on a planar surface and
observed by the monocular camera
• Analytical derivation of all the observable
modes
• Local decomposition and recursive
estimation of the observable modes
performed using an Extended Kalman
Filter
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–171–