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

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Session WedGT6 Gemini 3 Wednesday, October 10, 2012, 17:30–18:30 Localization and Mapping III Chair Jun Miura, Toyohashi Univ. of Tech. Co-Chair 17:30–17:45 WedGT6.1 Efficient Search for Correct and Useful Topological Maps Collin Johnson and Benjamin Kuipers EECS, University of Michigan, USA • We present an algorithm for probabilistic topological mapping. • Perform a heuristic search of a tree of maps. • Runs online. • Never prunes consistent topological map hypotheses so correct map can always be found. Top: Topological map built by our algorithm Bottom: Hypotheses expanded by our algorithm vs. brute force 18:00–18:15 WedGT6.3 Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering Thibault Hervier, Silvère Bonnabel, François Goulette Centre de Robotique - CAOR, MINES ParisTech, France • Use of depth images as localization sensors • Combined with ICP • Analysis of ICP results • Data fusion with non-linear filtering: Invariant Extended Kalman Filter • Natural, robust, handles SE3 • Experiments with Kinect sensor and gyros shows improvement in accuracy of localization and map building Depth images ICP Localization & covariance Non linear Kalman filtering (IEKF) 3D maps Experimental setup Motion data (gyros) 17:45–18:00 WedGT6.2 Accurate On-Line 3D Occupancy Grids Using Manhattan World Constraints Brian Peasley and Stan Birchfield Electrical and Computer Engineering Dept, Clemson University, USA Alex Cunningham and Frank Dellaert School of Interactive Computing, Georgia Institute of Technology, USA • Large dense 3D occupancy grids are constructed from RGB-D data • Factor graphs are used to combine odometry and visual data constrained by a Manhattan World assumption • Manhattan World assumption removes rotational drift – no need for loop closure • Large 3D maps of environments efficiently stored using an octree 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems –188– 3D and 2D reconstruction of a large building environment 18:15–18:30 WedGT6.4 Fourier-based Registrations for Two-Dimensional Forward-Looking Sonar Image Mosaicing Natalia Hurtos, Xavier Cufí and Joaquim Salvi Computer Vision and Robotics Group, University of Girona, Spain Yvan Petillot Ocean Systems Laboratory, Heriot -Watt University, U.K. • Phase correlation method is used to address the registration of forward-looking sonar images. • Registrations from loop-closing situations and areas without abundant features are feasible. • By integrating the result of pairwise registrations into a pose-based graph optimization a consistent sonar mosaic is generated. • The vehicle motion in x,y and heading can be also estimated from the registrations.
Session WedGT7 Vega Wednesday, October 10, 2012, 17:30–18:30 Mobile Manipulation Chair Masato Ishikawa, Osaka Univ. Co-Chair 17:30–17:45 WedGT7.1 Path Planning for Image-based Control of Wheeled Mobile Manipulators Moslem Kazemi, Kamal Gupta, Mehran Mehrandezh Carnegie Mellon University, Pittsburgh, USA Simon Fraser University, Burnaby, Canada University of Regina, Regina, Canada • Proposes a randomized kinodynamic planning approach for non-holonomic mobile manipulators • Accounts for visibility constraints (occlusion and field of view limits) • Coordinates the motion of the mobile base and on-board arm through weighted pseudo-inverse solutions and a null-space optimization technique • Proposes a decoupled trajectory tracking strategy: state feedback control of the mobile base + image-based control of the on-board arm 18:00–18:15 WedGT7.3 Modeling and Control of Cylindrical Mobile Robot Tetsurou Hirano, Masato Ishikawa and Koichi Osuka Dept. of Mech. Eng., Osaka Univ., Japan • Cylindrical mobile robot, driven by one eccentric rotor with single actuator • Two fundamental locomotion modes: edge rolling and lateral-side rolling • Modeled the robot using Lagrange’s E.O.M. and proposed control algorithm for the both modes • Achieved position control experiment only by internal sensor with a real cylindrical mobile robot Cylindrical Body Eccentric Rotor Cylindrical Mobile Robot 17:45–18:00 WedGT7.2 Mobile Manipulation Through An Assistive Home Robot Matei Ciocarlie, Kaijen Hsiao, and David Gossow Willow Garage Inc., USA Adam Leeper Willow Garage Inc., USA, and Stanford University, USA • We present a mobile manipulator operated by a motor-impaired person to perform varied and unscripted manipulation tasks • We describe the complete set of tools that enable the execution of complex tasks, and share the lessons learned from testing them in a real user’s home • In the context of grasping, we show how the use of autonomous sub-modules improves performance in complex, cluttered environments 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems –189– A PR2 robot, operated by a motor-impaired user, performing a manipulation task in a real home 18:15–18:30 WedGT7.4 Sensor-based Redundancy Resolution for a Nonholonomic Mobile Manipulator Huatao Zhang, Yunyi Jia and Ning Xi Electrical and Computer Engineering Department, Michigan State University, USA • Provide a redundancy resolution method for online trajectory generation by using real-time sensor information. • Employs multi-objective functions to meet the constraints and requirements simultaneously. • Apply this method to a high DOF mobile manipulator, and the effectiveness is demonstrated by simulation results. System structure Simulation results
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Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

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