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

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Session WedGT1 Pegaso A Wednesday, October 10, 2012, 17:30–18:30 Stereo Vision Chair Il Hong Suh, Hanyang Univ. Co-Chair Andreas Zell, Univ. of Tübingen 17:30–17:45 WedGT1.1 A New Feature Detector and Stereo Matching Method for Accurate High-Performance Sparse Stereo Matching Konstantin Schauwecker and Andreas Zell Department Cognitive Systems, University of Tübingen, Germany Reinhard Klette Computer Science Department, The University of Auckland, New Zealand • Computationally efficient sparse stereo matching system, achieving processing rates above 200 frames per second on a commodity dual-core CPU. • Although features are matched sparsely, a dense consistency check is applied, which drastically decreases the number of false matches. • A new FAST-based feature detector is used, which has a less clustered feature distribution and leads to an improved matching performance. 18:00–18:15 WedGT1.3 Can Stereo Vision replace a Laser Rangefinder? M. Antunes, J.P. Barreto, C. Premebida and U. Nunes Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra, Portugal • We propose Stereo Rangefinding (SRF) for estimating depth along virtual scan planes • The SymStereo framework is used for quantifying the likelihood of pixel correspondences using induced symmetry • The depth estimates of SRF are compared against the data provided by a LRF • We show that passive stereo can be an alternative to LRF in certain robotic applications Our paper shows that it is possible to recover the profile cut (green) directly from two cameras 17:45–18:00 WedGT1.2 Real-time Velocity Estimation Based on Optical Flow and Disparity Matching Dominik Honegger, Pierre Greisen, Lorenz Meier, Petri Tanskanen and Marc Pollefeys ETH Zürich Switzerland • We present an image-based real-time metric velocity sensor for mobile robot navigation. • An FPGA-based stereo camera platform combines optical flow and disparity values at 127 fps and 376*240 resolution. • Radial undistortion, image rectification, disparity estimation and optical flow are performed on a single FPGA. • Suited for MAVs due to low-weight, lowpower and low-latency. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems –184– System Setup, Rectified Input Image, Disparity Map, Flow Field 18:15–18:30 WedGT1.4 Dependable Dense Stereo Matching by Both Two-layer Recurrent Process and Chaining Search Sehyung Lee, Youngbin Park and Il Hong Suh Department of Electronics and Computer Engineering, Hanyang University, Korea • We propose a recurrent two-layer process and chaining search for dense stereo matching. • The disparity map is calculated through the iterative integration of pixel and region layers. • To estimate the precise disparities in occluded regions, reliable disparities are propagated by the chaining search. • To test our algorithm, it was compared with two outstanding algorithms in Middlebury benchmark using Gaussian noisy images. The first row shows the images with varying PSNR. The second, third, and fourth rows show the results of the CVF, the DBP, and the proposed method.
Session WedGT2 Fenix 2 Wednesday, October 10, 2012, 17:30–18:30 Telerobotics Chair Jordi Artigas, DLR - German Aerospace Center Co-Chair 17:30–17:45 WedGT2.1 Multi-Objective Optimization for Telerobotic Operations via the Internet Yunyi Jia 1 , Ning Xi 1,2 , Shuang Liu 2 , Huatao Zhang 1 and Sheng Bi 2 1 Electrical and Computer Engineering Department, Michigan State University, USA 2 Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong, China • Study the influence of the teleoperation condition variables on the telerobotic operations, including the quality of teleoperator, task dexterity and network quality • investigate the method to online identify these condition variables and employ them to enhance the telerobotic operations with multiple objectives. • Implemented on a mobile manipulator and verified its effectiveness. System framework Experiment implementation 18:00–18:15 WedGT2.3 Network Unfoldment and Application to Wave Variables using measured Forces J. Artigas Institute of Robotics and Mechatronic, DLR - German Aerospace Center, Germany • General network based representation, analysis and design. • A solution to the ambiguity of the channel causality. • Time Delay Power Networks: A new haptic channel representation paradigm. • Energy consistent application of the wave variables framework using sensed forces at the environment. 17:45–18:00 WedGT2.2 A master-slave robotic simulator based on GPUDirect Jianying Li, Yu Guo, Heye Zhang and Yongming Xie Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, China • Surgery robotic training simulation • CUDA and GPUDirect version 1 • Virtual surgery data transfer using GPUDirect between three computers by InfiniBand card • 247% performance improvement in data transmission speed in our master-slave robotic simulator 18:15–18:30 WedGT2.4 Unimodal Asymmetric Interface for Teleoperation of Mobile Manipulators: A User Study Alejandro Hernandez Herdocia, Azad Shademan, and Martin Jägersand Department of Computing Science, University of Alberta, Canada • Different methods to command one-arm mobile manipulator were studied: • Workspace Clutching (manipulator) • Differential End-Zone (manipulator) • Position/Rate Switching (manipulator) • Rate Control (mobile base) • Evaluated pick & place performance with 7 subjects solving a Towers of Hanoi puzzle • Two case studies were presented: • Large-displacement pick & place • Opening a door and exiting a room 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems –185– Mobile manipulator (SEGWAY+WAM) with asymmetric and haptics-enabled master-slave configuration.
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Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

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