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Learning Domain Adaptation with Model Calibration for Surgical Report Generation in Robotic Surgery | https://ieeexplore.ieee.org/document/9561569/ | [
"Mengya Xu",
"Mobarakol Islam",
"Chwee Ming Lim",
"Hongliang Ren",
"Mengya Xu",
"Mobarakol Islam",
"Chwee Ming Lim",
"Hongliang Ren"
] | Generating a surgical report in robot-assisted surgery, in the form of natural language expression of surgical scene understanding, can play a significant role in document entry tasks, surgical training, and post-operative analysis. Despite the state-of-the-art accuracy of the deep learning algorithm, the deployment performance often drops when applied to the Target Domain (TD) data. For this purp... |
Data-driven Holistic Framework for Automated Laparoscope Optimal View Control with Learning-based Depth Perception | https://ieeexplore.ieee.org/document/9562083/ | [
"Bin Li",
"Bo Lu",
"Yiang Lu",
"Qi Dou",
"Yun-Hui Liu",
"Bin Li",
"Bo Lu",
"Yiang Lu",
"Qi Dou",
"Yun-Hui Liu"
] | Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless the traditional manual holding paradigm may easily bring fatigue to surgical assistants, and misunderstanding between surgeons also hinders assistants to provide a high-quality FOV. Targeting this problem, we here present a data-driven framework to real... |
Deep Reinforcement Learning Framework for Underwater Locomotion of Soft Robot | https://ieeexplore.ieee.org/document/9561145/ | [
"Guanda Li",
"Jun Shintake",
"Mitsuhiro Hayashibe",
"Guanda Li",
"Jun Shintake",
"Mitsuhiro Hayashibe"
] | Soft robotics is an emerging technology with excellent application prospects. However, due to the inherent compliance of the materials used to build soft robots, it is extremely complicated to control soft robots accurately. In this paper, we introduce a data-based control framework for solving the soft robot underwater locomotion problem using deep reinforcement learning (DRL). We first built a s... |
A Parallelized Iterative Algorithm for Real-Time Simulation of Long Flexible Cable Manipulation | https://ieeexplore.ieee.org/document/9561905/ | [
"Jeongmin Lee",
"Minji Lee",
"Jaemin Yoon",
"Dongjun Lee",
"Jeongmin Lee",
"Minji Lee",
"Jaemin Yoon",
"Dongjun Lee"
] | We propose a novel real-time physically-accurate simulator for long flexible cable manipulation. We first discretize the cable into multiple rigid link segments, each with complementarity-based contact model and inter-segment compliant coupling; and partition the cable into a number of subsystems, each composed with a number of consecutive links. We then formulate the inter-subsystem consistency c... |
An Autonomous Robotic Flexible Endoscope System with a DNA-inspired Continuum Mechanism | https://ieeexplore.ieee.org/document/9561651/ | [
"Xue Zhang",
"Weibing Li",
"Wing Yin Ng",
"Yisen Huang",
"Yitian Xian",
"Philip Wai Yan Chiu",
"Zheng Li",
"Xue Zhang",
"Weibing Li",
"Wing Yin Ng",
"Yisen Huang",
"Yitian Xian",
"Philip Wai Yan Chiu",
"Zheng Li"
] | In this paper, we proposed an autonomous robotic flexible endoscope system for the laparoscopic bariatric surgery (LBS). This system comprises a UR5 robot and a flexible endoscope equipped with a novel continuum joint, named reinforced double helix continuum mechanism. Compared with the simple helix structure, the compressional and torsional stiffness of the proposed joint are improved significant... |
Amplifying Laminar Jamming for Soft Robots by Geometry-Induced Rigidity | https://ieeexplore.ieee.org/document/9561415/ | [
"Wen-Bo Li",
"Xin-Yu Guo",
"Fu-Yi Fang",
"Wen-Ming Zhang",
"Wen-Bo Li",
"Xin-Yu Guo",
"Fu-Yi Fang",
"Wen-Ming Zhang"
] | Variable stiffness technology is an extensively discussed topic in soft robotics, which can bridge the traditional fast, precise and high-force rigid robots with compliant, agile, and safe soft robots. In this paper, we introduce the concept of geometry-induced rigidity and propose a variable curvature jamming (VCJ) mechanism for amplifying the laminar jamming structures which are fast, efficient,... |
Towards a Multi-imager Compatible Continuum Robot with Improved Dynamics Driven by Modular SMA | https://ieeexplore.ieee.org/document/9561113/ | [
"Qingpeng Ding",
"Yongkang Lu",
"Andre Kyme",
"Shing Shin Cheng",
"Qingpeng Ding",
"Yongkang Lu",
"Andre Kyme",
"Shing Shin Cheng"
] | Most existing surgical robots employ straight rigid instruments and are not compatible with imaging modalities, especially magnetic resonance imaging (MRI) that presents restrictive constraints on the robot and actuator materials. Employing continuum distal end effector and fulfilling multi-imager compatibility will potentially lead to wide adoption of surgical robots in intraoperative image-guide... |
Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements | https://ieeexplore.ieee.org/document/9562013/ | [
"Jinxu Liu",
"Wei Gao",
"Zhanyi Hu",
"Jinxu Liu",
"Wei Gao",
"Zhanyi Hu"
] | Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this kind in the literature to our knowledge. More specifically, reprojection error, IMU pre-integration error and raw GNSS measurement error are jointly minimized w... |
LiTAMIN2: Ultra Light LiDAR-based SLAM using Geometric Approximation applied with KL-Divergence | https://ieeexplore.ieee.org/document/9560947/ | [
"Masashi Yokozuka",
"Kenji Koide",
"Shuji Oishi",
"Atsuhiko Banno",
"Masashi Yokozuka",
"Kenji Koide",
"Shuji Oishi",
"Atsuhiko Banno"
] | In this paper, a three-dimensional light detection and ranging simultaneous localization and mapping (SLAM) method is proposed that is available for tracking and mapping with 500–1000 Hz processing. The proposed method significantly reduces the number of points used for point cloud registration using a novel ICP metric to speed up the registration process while maintaining accuracy. Point cloud re... |
Compositional and Scalable Object SLAM | https://ieeexplore.ieee.org/document/9561697/ | [
"Akash Sharma",
"Wei Dong",
"Michael Kaess",
"Akash Sharma",
"Wei Dong",
"Michael Kaess"
] | We present a fast, scalable, and accurate Simultaneous Localization and Mapping (SLAM) system that represents indoor scenes as a graph of objects. Leveraging the observation that artificial environments are structured and occupied by recognizable objects, we show that a compositional and scalable object mapping formulation is amenable to a robust SLAM solution for drift-free large-scale indoor rec... |
A Robotic Defect Inspection System for Free-form Specular Surfaces | https://ieeexplore.ieee.org/document/9561265/ | [
"Shengzeng Huo",
"David Navarro-Alarcon",
"David TW Chik",
"Shengzeng Huo",
"David Navarro-Alarcon",
"David TW Chik"
] | In this paper, we present a robotic system to automatically perform defect inspection tasks over free-form specular surfaces, which the image acquisition sub-system is equipped with a 6-DOF robot manipulator to achieve flexible scanning. Given the mesh model of the workpiece, we implement K-means based region segmentation algorithm on the point cloud after preprocessing. Then, we take the smooth r... |
Serverless Architecture for Service Robot Management System | https://ieeexplore.ieee.org/document/9561824/ | [
"Kenji Nishimiya",
"Yuta Imai",
"Kenji Nishimiya",
"Yuta Imai"
] | We have developed service robot management system to facilitate effective collaboration between multiple units and types of robots in operation. This system is implemented by serverless architecture on cloud and using cellular based IoT communication. So it has not only usual cloud system advantage that it is not necessary to prepare dedicated server and network equipment, but it reduces managemen... |
Can Non-Humanoid Social Robots Reduce Workload of Special Educators : An Online and In-Premises Field Study | https://ieeexplore.ieee.org/document/9561633/ | [
"Nabanita Paul",
"Siddharth Ramesh",
"Chiranjib Bhattacharya",
"Jayashree Ramesh",
"Priya Vijayan",
"Nabanita Paul",
"Siddharth Ramesh",
"Chiranjib Bhattacharya",
"Jayashree Ramesh",
"Priya Vijayan"
] | Although Socially Assistive Robotics have been used in Autism Spectrum Disorder (ASD) interventions, such studies often exclude Special Educators (SEs) and often use expensive humanoid robots. In this paper, we investigate whether non-humanoid toy robots can act as teaching aids in ASD Education, in particular, can they reduce the workload of SEs. We target two most common yet divergent problems f... |
Heart Position Estimation based on Bone Distribution toward Autonomous Robotic Fetal Ultrasonography | https://ieeexplore.ieee.org/document/9560839/ | [
"Yuuki Shida",
"Ryosuke Tsumura",
"Takabumi Watanabe",
"Hiroyasu Iwata",
"Yuuki Shida",
"Ryosuke Tsumura",
"Takabumi Watanabe",
"Hiroyasu Iwata"
] | Autonomous fetal ultrasonography with a robotic ultrasound (US) can potentially solve the issue of the shortage of ob-gyn physicians in prenatal care. In fetal cardiac diagnosis, acoustic shading derived from the fetal skeleton makes the scanning procedure using a robotic US cumbersome. We hypothesize that fetal bone distribution can be used for determining the fetal position and for subsequently ... |
Chip-Less Wireless Sensing of Kirigami Structural Morphing Under Various Mechanical Stimuli Using Home-Based Ink-Jet Printable Materials | https://ieeexplore.ieee.org/document/9561945/ | [
"Godwin Ponraj",
"Wei Le Yeo",
"Kirthika Senthil Kumar",
"Manivannan Sivaperuman Kalairaj",
"Catherine Jiayi Cai",
"Hongliang Ren",
"Godwin Ponraj",
"Wei Le Yeo",
"Kirthika Senthil Kumar",
"Manivannan Sivaperuman Kalairaj",
"Catherine Jiayi Cai",
"Hongliang Ren"
] | The feasibility of using chip-based RFID designs as wireless sensor tags open a wide range of application possibilities in the field of robotics. However, multi-step lithography manufacturing and/or MEMS techniques are often required for the industrial-grade fabrication of such sensors. In this paper, we present a simple, home-based, two-step fabrication process to produce chipless RF-based wirele... |
A 2-Dimensional Branch-and-Bound Algorithm for Hand-Eye Self-Calibration of SCARA Robots | https://ieeexplore.ieee.org/document/9561696/ | [
"Chengyu Tao",
"Na Lv",
"Shanben Chen",
"Chengyu Tao",
"Na Lv",
"Shanben Chen"
] | Due to the high positioning accuracy and relatively low prices, SCARA robots are widely used in industrial fields. The objective of this paper is to propose a hand-eye self-calibration algorithm for SCARA robots which could consider both accuracy and computational cost. The previous global optimal hand-eye calibration algorithms based on branch-and-bound (BnB) optimization is limited by their expe... |
Long-term Multiple Time-Constant Model of a Spring Roll Dielectric Elastomer Actuator under Dynamic Loading | https://ieeexplore.ieee.org/document/9561167/ | [
"Seung Mo Jeong",
"Ki-Uk Kyung",
"Seung Mo Jeong",
"Ki-Uk Kyung"
] | Dielectric elastomers are electro-mechanically coupled transducers that display a nonlinear viscoelastic stress-strain relationship. Modeling and controlling such nonlinear materials and actuators are of great challenge. A spring roll dielectric elastomer actuator is a linear actuator composed of a spring and sheets of wrapped dielectric elastomers. Since its shape and actuation performance resemb... |
A Wheeled V-shaped In-Pipe Robot with Clutched Underactuated Joints | https://ieeexplore.ieee.org/document/9561775/ | [
"Yoshimichi Oka",
"Atsushi Kakogawa",
"Shugen Ma",
"Yoshimichi Oka",
"Atsushi Kakogawa",
"Shugen Ma"
] | This paper presents a wheeled V-shaped in-pipe robot in which the two outputs of the wheel shaft and roll joint are driven solely by a single actuator input. This underactuation is generated by a simple miter gear mechanism. Generally, to control two movements easily, one of the outputs of the underactuated mechanism is constrained by the resilience force of springs or by the friction force. Howev... |
Walking Trajectory Design of Hydraulic Legged Robot with Limited Powered Pump | https://ieeexplore.ieee.org/document/9561988/ | [
"Kosuke Tani",
"Hiroyuki Nabae",
"Yoshiharu Hirota",
"Gen Endo",
"Koichi Suzumori",
"Kosuke Tani",
"Hiroyuki Nabae",
"Yoshiharu Hirota",
"Gen Endo",
"Koichi Suzumori"
] | A hydraulic drive system can generate a large force and is impact resistant. Thus, robots that utilize hydraulic drive systems have been developed for use in disaster areas. In a hydraulic drive system, it is necessary to design the motion of the robot within the capacity of the pump unit, but it is generally difficult to predict the required flow rate and pressure. Especially for hydraulically dr... |
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction | https://ieeexplore.ieee.org/document/9561786/ | [
"Anxing Xiao",
"Wenzhe Tong",
"Lizhi Yang",
"Jun Zeng",
"Zhongyu Li",
"Koushil Sreenath",
"Anxing Xiao",
"Wenzhe Tong",
"Lizhi Yang",
"Jun Zeng",
"Zhongyu Li",
"Koushil Sreenath"
] | An autonomous robot that is able to physically guide humans through narrow and cluttered spaces could be a big boon to the visually-impaired. Most prior robotic guiding systems are based on wheeled platforms with large bases with actuated rigid guiding canes. The large bases and the actuated arms limit these prior approaches from operating in narrow and cluttered environments. We propose a method ... |
An Overconstrained Robotic Leg with Coaxial Quasi-direct Drives for Omni-directional Ground Mobility | https://ieeexplore.ieee.org/document/9561829/ | [
"Shihao Feng",
"Yuping Gu",
"Weijie Guo",
"Yuqin Guo",
"Fang Wan",
"Jia Pan",
"Chaoyang Song",
"Shihao Feng",
"Yuping Gu",
"Weijie Guo",
"Yuqin Guo",
"Fang Wan",
"Jia Pan",
"Chaoyang Song"
] | Planar mechanisms dominate modern designs of legged robots with remote actuator placement for robust agility in ground mobility. This paper presents a novel design of robotic leg modules using the Bennett linkage, driven by two coaxially arranged quasi-direct actuators capable of omnidirectional ground locomotion. The Bennett linkage belongs to a family of overconstrained linkages with three-dimen... |
Towards Real-time Semantic RGB-D SLAM in Dynamic Environments | https://ieeexplore.ieee.org/document/9561743/ | [
"Tete Ji",
"Chen Wang",
"Lihua Xie",
"Tete Ji",
"Chen Wang",
"Lihua Xie"
] | Most of the existing visual SLAM methods heavily rely on a static world assumption and easily fail in dynamic environments. Some recent works eliminate the influence of dynamic objects by introducing deep learning-based semantic information to SLAM systems. However such methods suffer from high computational cost and cannot handle unknown objects. In this paper, we propose a real-time semantic RGB... |
Real-time Robot Path Planning using Rapid Visible Tree | https://ieeexplore.ieee.org/document/9560801/ | [
"Wen Xing",
"Aiguo Song",
"Lifeng Zhu",
"Wen Xing",
"Aiguo Song",
"Lifeng Zhu"
] | This paper proposes a new path planning strategy - the Rapid Visible Tree (RVT) algorithm to guide a robot to its goal in a complex environment without dangerous collisions. By fusing the visibility information with the classic tree-based searching method, RVT only takes the noisy points locally acquired from the environment as input and computes the visible region at each location to decide the g... |
Semantically Guided Multi-View Stereo for Dense 3D Road Mapping | https://ieeexplore.ieee.org/document/9561077/ | [
"Mingzhe Lv",
"Diantao Tu",
"Xincheng Tang",
"Yuqian Liu",
"Shuhan Shen",
"Mingzhe Lv",
"Diantao Tu",
"Xincheng Tang",
"Yuqian Liu",
"Shuhan Shen"
] | Compared to widely used LiDAR-based mapping in autonomous driving field, image-based mapping method has the advantages of low cost, high resolution, and no need for complex calibration. However, the image-based 3D mapping depends heavily on the texture richness and always leaves holes and outliers in low-textured areas, such as the road surface. To this end, this paper proposed a novel semanticall... |
Spatial Reasoning from Natural Language Instructions for Robot Manipulation | https://ieeexplore.ieee.org/document/9560895/ | [
"Sagar Gubbi Venkatesh",
"Anirban Biswas",
"Raviteja Upadrashta",
"Vikram Srinivasan",
"Partha Talukdar",
"Bharadwaj Amrutur",
"Sagar Gubbi Venkatesh",
"Anirban Biswas",
"Raviteja Upadrashta",
"Vikram Srinivasan",
"Partha Talukdar",
"Bharadwaj Amrutur"
] | Robots that can manipulate objects in unstructured environments and collaborate with humans can benefit immensely by understanding natural language. We propose a pipelined architecture of two stages to perform spatial reasoning on the text input. All the objects in the scene are first localized, and then the instruction for the robot in natural language and the localized co-ordinates are mapped to... |
Robust 360-8PA: Redesigning The Normalized 8-point Algorithm for 360-FoV Images | https://ieeexplore.ieee.org/document/9560888/ | [
"Bolivar Solarte",
"Chin-Hsuan Wu",
"Kuan-Wei Lu",
"Yi-Hsuan Tsai",
"Wei-Chen Chiu",
"Min Sun",
"Bolivar Solarte",
"Chin-Hsuan Wu",
"Kuan-Wei Lu",
"Yi-Hsuan Tsai",
"Wei-Chen Chiu",
"Min Sun"
] | In this paper, we present a novel preconditioning strategy for the classic 8-point algorithm (8-PA) for estimating an essential matrix from 360-FoV images (i.e., equirectangular images) in spherical projection. To alleviate the effect of uneven key-feature distributions and outlier correspondences, which can potentially decrease the accuracy of an essential matrix, our method optimizes a non-rigid... |
Initialisation of Autonomous Aircraft Visual Inspection Systems via CNN-Based Camera Pose Estimation | https://ieeexplore.ieee.org/document/9561575/ | [
"Xueyan Oh",
"Leonard Loh",
"Shaohui Foong",
"Zhong Bao Andy Koh",
"Kow Leong Ng",
"Poh Kang Tan",
"Pei Lin Pearlin Toh",
"U-Xuan Tan",
"Xueyan Oh",
"Leonard Loh",
"Shaohui Foong",
"Zhong Bao Andy Koh",
"Kow Leong Ng",
"Poh Kang Tan",
"Pei Lin Pearlin Toh",
"U-Xuan Tan"
] | General Visual Inspection is a manual inspection process regularly used to detect and localise obvious damage on the exterior of commercial aircraft. There has been increasing demand to perform this process at the boarding gate to minimize the downtime of the aircraft and automating this process is desired to reduce the reliance on human labour. This automation typically requires the first step of... |
Voxelized GICP for Fast and Accurate 3D Point Cloud Registration | https://ieeexplore.ieee.org/document/9560835/ | [
"Kenji Koide",
"Masashi Yokozuka",
"Shuji Oishi",
"Atsuhiko Banno",
"Kenji Koide",
"Masashi Yokozuka",
"Shuji Oishi",
"Atsuhiko Banno"
] | This paper presents the voxelized generalized iterative closest point (VGICP) algorithm for fast and accurate three-dimensional point cloud registration. The proposed approach extends the generalized iterative closest point (GICP) approach with voxelization to avoid costly nearest neighbor search while retaining its accuracy. In contrast to the normal distributions transform (NDT), which calculate... |
Robust Navigation for Racing Drones based on Imitation Learning and Modularization | https://ieeexplore.ieee.org/document/9560743/ | [
"Tianqi Wang",
"Dong Eui Chang",
"Tianqi Wang",
"Dong Eui Chang"
] | This paper presents a vision-based modularized drone racing navigation system that uses a customized convolutional neural network (CNN) for the perception module to produce high-level navigation commands and then leverages a state-of-the-art planner and controller to generate low-level control commands, thus exploiting the advantages of both data- based and model-based approaches. Unlike the state... |
Learning Interpretable End-to-End Vision-Based Motion Planning for Autonomous Driving with Optical Flow Distillation | https://ieeexplore.ieee.org/document/9561334/ | [
"Hengli Wang",
"Peide Cai",
"Yuxiang Sun",
"Lujia Wang",
"Ming Liu",
"Hengli Wang",
"Peide Cai",
"Yuxiang Sun",
"Lujia Wang",
"Ming Liu"
] | Recently, deep-learning based approaches have achieved impressive performance for autonomous driving. However, end-to-end vision-based methods typically have limited interpretability, making the behaviors of the deep networks difficult to explain. Hence, their potential applications could be limited in practice. To address this problem, we propose an interpretable end-to-end vision-based motion pl... |
Task-Driven Deep Image Enhancement Network for Autonomous Driving in Bad Weather | https://ieeexplore.ieee.org/document/9561076/ | [
"Younkwan Lee",
"Jihyo Jeon",
"Yeongmin Ko",
"Byunggwan Jeon",
"Moongu Jeon",
"Younkwan Lee",
"Jihyo Jeon",
"Yeongmin Ko",
"Byunggwan Jeon",
"Moongu Jeon"
] | Visual perception in autonomous driving is a crucial part of a vehicle to navigate safely and sustainably in different traffic conditions. However, in bad weather such as heavy rain and haze, the performance of visual perception is greatly affected by several degrading effects. Recently, deep learning-based perception methods have addressed multiple degrading effects to reflect real-world bad weat... |
Referring Image Segmentation via Language-Driven Attention | https://ieeexplore.ieee.org/document/9561797/ | [
"Ding-Jie Chen",
"He-Yen Hsieh",
"Tyng-Luh Liu",
"Ding-Jie Chen",
"He-Yen Hsieh",
"Tyng-Luh Liu"
] | This paper aims to tackle the problem of referring image segmentation, which is targeted at reasoning the region of interest referred by a query natural language sentence. One key issue to address the referring image segmentation is how to establish the cross-modal representation for encoding the two modalities, namely, the query sentence and the input image. Most existing methods are designed to ... |
GPU-Efficient Dense Convolutional Network for Real-time Semantic Segmentation | https://ieeexplore.ieee.org/document/9561849/ | [
"Xinneng Yang",
"Yan Wu",
"Junqiao Zhao",
"Feilin Liu",
"Xinneng Yang",
"Yan Wu",
"Junqiao Zhao",
"Feilin Liu"
] | Real-time semantic segmentation is a challenging task as both accuracy and inference speed need to be considered simultaneously. In real-world applications, it is usually achieved by deploying a deep neural network in modern GPU device. However, most of the work focused on real-time semantic segmentation is designed by significantly reducing computation complexity and model size. There are other f... |
Feature Enhanced Projection Network for Zero-shot Semantic Segmentation | https://ieeexplore.ieee.org/document/9561558/ | [
"Hongchao Lu",
"Longwei Fang",
"Matthieu Lin",
"Zhidong Deng",
"Hongchao Lu",
"Longwei Fang",
"Matthieu Lin",
"Zhidong Deng"
] | In environmental perception of autonomous driving, zero-shot semantic segmentation that can make prediction of new categories without using any labeled training samples is considered as a challenging task. One key step in this task is to transfer knowledge across categories via auxiliary semantic word embeddings. In this paper, we propose a feature enhanced projection network (FEPNet) that takes f... |
Learning Optical Flow with R-CNN for Visual Odometry | https://ieeexplore.ieee.org/document/9562074/ | [
"Yingping Huang",
"Baigan Zhao",
"Chong Gao",
"Xing Hu",
"Yingping Huang",
"Baigan Zhao",
"Chong Gao",
"Xing Hu"
] | Addressing on monocular visual odometry problem, this paper presents a novel end-to-end network for estimation of camera ego-motion. The network learns the latent space of optical flow (OF) and models sequential dynamics so that the motion estimation is constrained by the relations between sequential images. We compute the OF field of consecutive images and extract the latent OF representation in ... |
A Normal Distribution Transform-Based Radar Odometry Designed For Scanning and Automotive Radars | https://ieeexplore.ieee.org/document/9561413/ | [
"Pou-Chun Kung",
"Chieh-Chih Wang",
"Wen-Chieh Lin",
"Pou-Chun Kung",
"Chieh-Chih Wang",
"Wen-Chieh Lin"
] | Existing radar sensors can be classified into automotive and scanning radars. While most radar odometry (RO) methods are only designed for a specific type of radar, our RO method adapts to both scanning and automotive radars. Our RO is simple yet effective, where the pipeline consists of thresholding, probabilistic submap building, and an Normal Distribution Transform-based (NDT-based) radar scan ... |
An Equivariant Filter for Visual Inertial Odometry | https://ieeexplore.ieee.org/document/9561769/ | [
"Pieter van Goor",
"Robert Mahony",
"Pieter van Goor",
"Robert Mahony"
] | Visual Inertial Odometry (VIO) is of great interest due the ubiquity of devices equipped with both a monocular camera and Inertial Measurement Unit (IMU). Methods based on the extended Kalman Filter remain popular in VIO due to their low memory requirements, CPU usage, and processing time when compared to optimisation-based methods. In this paper, we analyse the VIO problem from a geometric perspe... |
A Tactile Sensing Foot for Single Robot Leg Stabilization | https://ieeexplore.ieee.org/document/9560967/ | [
"Guanlan Zhang",
"Yipai Du",
"Yazhan Zhang",
"Michael Yu Wang",
"Guanlan Zhang",
"Yipai Du",
"Yazhan Zhang",
"Michael Yu Wang"
] | Tactile sensing on human feet is crucial for motion control, however, has not been explored in robotic counterparts. This work is dedicated to endowing tactile sensing to legged robot’s feet and showing that a single-legged robot can be stabilized with only tactile sensing signals from its foot. We propose a robot leg with a novel vision-based tactile sensing foot system and implement a processing... |
Looking Farther in Parametric Scene Parsing with Ground and Aerial Imagery | https://ieeexplore.ieee.org/document/9561825/ | [
"Raghava Modhugu",
"Harish Rithish Sethuram",
"Manmohan Chandraker",
"C.V. Jawahar",
"Raghava Modhugu",
"Harish Rithish Sethuram",
"Manmohan Chandraker",
"C.V. Jawahar"
] | Parametric models that represent layout in terms of scene attributes are an attractive avenue for road scene understanding in autonomous navigation. Prior works that rely only on ground imagery are limited by the narrow field of view of the camera, occlusions and perspective foreshortening. In this paper, we demonstrate the effectiveness of using aerial imagery as an additional modality to overcom... |
Fast Motion Understanding with Spatiotemporal Neural Networks and Dynamic Vision Sensors | https://ieeexplore.ieee.org/document/9561290/ | [
"Anthony Bisulco",
"Fernando Cladera",
"Volkan Isler",
"Daniel D. Lee",
"Anthony Bisulco",
"Fernando Cladera",
"Volkan Isler",
"Daniel D. Lee"
] | This paper presents a Dynamic Vision Sensor (DVS) based system for reasoning about high-speed motion. As a representative scenario we consider a robot at rest, reacting to a small, fast approaching object at speeds higher than 15 m/s. Since conventional image sensors at typical frame rates observe such an object for only a few frames, estimating the underlying motion presents a considerable challe... |
Design and Modeling of a Biomimetic Gastropod-like Soft Robot with Wet Adhesive Locomotion | https://ieeexplore.ieee.org/document/9560778/ | [
"Wenci Xin",
"Flippy Tianle Pan",
"Yehui Li",
"Philip Wai Yan Chiu",
"Zheng Li",
"Wenci Xin",
"Flippy Tianle Pan",
"Yehui Li",
"Philip Wai Yan Chiu",
"Zheng Li"
] | Crawling through various terrains has been a long research interest. In recent years, quite a number of soft crawling robots have been developed. However, locomoting in an elastic, humid, and slippery environment remains a challenge. In nature, gastropods, such as snails, live in humid environment and could crawl through all kinds of surface conditions by using wet adhesion. In the wet adhesive lo... |
Nonlinear Disturbance Observer-based Robust Motion Control for Multi-joint Series Elastic Actuator-driven Robots | https://ieeexplore.ieee.org/document/9561312/ | [
"Shuaishuai Han",
"Haoping Wang",
"Haoyong Yu",
"Shuaishuai Han",
"Haoping Wang",
"Haoyong Yu"
] | Motion control of multi-joint Series Elastic Actuator (SEA)-driven robots still faces challenges including intrinsic oscillatory dynamics, high-order robotic dynamics, low-bandwidth inner loop, and dynamic nonlinearities. In this letter, a nonlinear disturbance observer (NDOB)-based robust controller with the singular perturbation theory is proposed to perform stable and precise motion control of ... |
Biomimetic Control of Myoelectric Prosthetic Hand Based on a Lambda-type Muscle Model | https://ieeexplore.ieee.org/document/9561288/ | [
"Akira Furui",
"Kosuke Nakagaki",
"Toshio Tsuji",
"Akira Furui",
"Kosuke Nakagaki",
"Toshio Tsuji"
] | Myoelectric prosthetic hands are intended to re-place the function of the amputee’s lost arm. Therefore, developing robotic prosthetics that can mimic not only the appearance and functionality of humans but also characteristics unique to human movements is paramount. This paper proposes a novel biomimetic control method for myoelectric prosthetic hands integrating the impedance model with the conc... |
Context-Aware Safe Reinforcement Learning for Non-Stationary Environments | https://ieeexplore.ieee.org/document/9561593/ | [
"Baiming Chen",
"Zuxin Liu",
"Jiacheng Zhu",
"Mengdi Xu",
"Wenhao Ding",
"Liang Li",
"Ding Zhao",
"Baiming Chen",
"Zuxin Liu",
"Jiacheng Zhu",
"Mengdi Xu",
"Wenhao Ding",
"Liang Li",
"Ding Zhao"
] | Safety is a critical concern when deploying reinforcement learning agents for realistic tasks. Recently, safe reinforcement learning algorithms have been developed to optimize the agent’s performance while avoiding violations of safety constraints. However, few studies have addressed the nonstationary disturbances in the environments, which may cause catastrophic outcomes. In this paper, we propos... |
Quantification of Joint Redundancy considering Dynamic Feasibility using Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9561048/ | [
"Jiazheng Chai",
"Mitsuhiro Hayashibe",
"Jiazheng Chai",
"Mitsuhiro Hayashibe"
] | The robotic joint redundancy for executing a task and the optimal usage of robotic joints given the redundant degrees of freedom are crucial for the performance of a robot. It is therefore of interest to quantify the joint redundancy to better understand the robotic dexterity considering the dynamic feasibility. To this end, model-based approaches have been among the most commonly used methods to ... |
Deep Balanced Learning for Long-tailed Facial Expressions Recognition | https://ieeexplore.ieee.org/document/9561155/ | [
"Hongxiang Gao",
"Shan An",
"Jianqing Li",
"Chengyu Liu",
"Hongxiang Gao",
"Shan An",
"Jianqing Li",
"Chengyu Liu"
] | The analysis of facial expression is a very complex and challenging problem. Most researches for automated Facial Expression Recognition (FER) are mainly based on deep learning networks, rarely considering data imbalance. This paper commits to addressing the long-tail distribution problems among large-scale datasets in wild. Inspired by the continual learning method, we reconstruct multi-subsets f... |
AU-Expression Knowledge Constrained Representation Learning for Facial Expression Recognition | https://ieeexplore.ieee.org/document/9561252/ | [
"Tao Pu",
"Tianshui Chen",
"Yuan Xie",
"Hefeng Wu",
"Liang Lin",
"Tao Pu",
"Tianshui Chen",
"Yuan Xie",
"Hefeng Wu",
"Liang Lin"
] | Recognizing human emotion/expressions automatically is quite an expected ability for intelligent robotics, as it can promote better communication and cooperation with humans. Current deep-learning-based algorithms may achieve impressive performance in some lab-controlled environments, but they always fail to recognize the expressions accurately for the uncontrolled in-the-wild situation. Fortunate... |
Covariance Self-Attention Dual Path UNet for Rectal Tumor Segmentation | https://ieeexplore.ieee.org/document/9561826/ | [
"Haijun Gao",
"Xiangyin Zeng",
"Dazhi Pan",
"Bochuan Zheng",
"Haijun Gao",
"Xiangyin Zeng",
"Dazhi Pan",
"Bochuan Zheng"
] | Deep learning algorithms are recognized as the most effective method for rectal tumor segmentation. However, since the multi-scale detailed feature information of rectal tumor cannot be fully extracted and applied, the segmentation and identification results of most algorithms are not always perfect. In this work, we introduce a Covariance Self-Attention Dual Path UNet (CSA-DPUNet), that is modifi... |
Fabric defect detection using tactile information | https://ieeexplore.ieee.org/document/9561092/ | [
"Xingming Long",
"Bin Fang",
"Yifan Zhang",
"GuoYi Luo",
"Fuchun Sun",
"Xingming Long",
"Bin Fang",
"Yifan Zhang",
"GuoYi Luo",
"Fuchun Sun"
] | This paper proposes a method of fabric structure defect detection based on tactile information. Different from traditional visual-based detection methods, the proposed method uses a tactile sensor to attain the information of fabric. The advantage of using tactile information is to avoid different irregular dyeing patterns and reduce the influence of ambient light. Therefore, the proposed method c... |
Real-time 3D-Lidar, MMW Radar and GPS/IMU fusion based vehicle detection and tracking in unstructured environment | https://ieeexplore.ieee.org/document/9562063/ | [
"Ning Li",
"Caixia Lu",
"Xuewei Yu",
"Xueyan Liu",
"Bo Su",
"Ning Li",
"Caixia Lu",
"Xuewei Yu",
"Xueyan Liu",
"Bo Su"
] | To solve the problem of unmanned ground vehicle leader-follower formation transportation in unstructured environment, we propose a novel target detection and tracking method based on multi-sensor fusion perception. Combined with 3D-Lidar, millimeter wave Radar and GPS/IMU, the proposed method can achieve stable target detection and continuous tracking of both static and dynamic vehicles. First, 3D... |
Relational Graph Learning on Visual and Kinematics Embeddings for Accurate Gesture Recognition in Robotic Surgery | https://ieeexplore.ieee.org/document/9561028/ | [
"Yonghao Long",
"Jie Ying Wu",
"Bo Lu",
"Yueming Jin",
"Mathias Unberath",
"Yun-Hui Liu",
"Pheng Ann Heng",
"Qi Dou",
"Yonghao Long",
"Jie Ying Wu",
"Bo Lu",
"Yueming Jin",
"Mathias Unberath",
"Yun-Hui Liu",
"Pheng Ann Heng",
"Qi Dou"
] | Automatic surgical gesture recognition is fundamentally important to enable intelligent cognitive assistance in robotic surgery. With recent advancement in robot-assisted minimally invasive surgery, rich information including surgical videos and robotic kinematics can be recorded, which provide complementary knowledge for understanding surgical gestures. However, existing methods either solely ado... |
City-scale Scene Change Detection using Point Clouds | https://ieeexplore.ieee.org/document/9561855/ | [
"Zi Jian Yew",
"Gim Hee Lee",
"Zi Jian Yew",
"Gim Hee Lee"
] | We propose a method for detecting structural changes in a city using images captured from vehicular mounted cameras over traversals at two different times. We first generate 3D point clouds for each traversal from the images and approximate GNSS/INS readings using Structure-from-Motion (SfM). A direct comparison of the two point clouds for change detection is not ideal due to inaccurate geo-locati... |
Visual Place Recognition via Local Affine Preserving Matching | https://ieeexplore.ieee.org/document/9561709/ | [
"Xinyu Ye",
"Jiayi Ma",
"Xinyu Ye",
"Jiayi Ma"
] | Visual Place Recognition (VPR) is a crucial component for long-term mobile robot autonomy. In this paper, we exploit a coarse-to-fine paradigm to recognize places. In particular, we first select candidate frames for each query image, and then check the spatial geometric relationship between the query and its candidate frames to determine the final place match. In the coarse match stage, we employ ... |
View-expansive Microscope System with Real-time High-resolution Imaging for Simplified Microinjection Experiments | https://ieeexplore.ieee.org/document/9562106/ | [
"Tadayoshi Aoyama",
"Sarau Takeno",
"Kazuki Hano",
"Masaki Takasu",
"Masaru Takeuchi",
"Yasuhisa Hasegawa",
"Tadayoshi Aoyama",
"Sarau Takeno",
"Kazuki Hano",
"Masaki Takasu",
"Masaru Takeuchi",
"Yasuhisa Hasegawa"
] | Microinjection technology is applied widely in biomedical research for the purposes of gene manipulation and microinsemination. Generally, microinjection is performed under an optical microscope environment through image presentation of the targets. To perform the microinjection process, it is necessary to place multiple cells in the same droplet and perform multiple injections. This process requi... |
Leveraging Enhanced Virtual Reality Methods and Environments for Efficient, Intuitive, and Immersive Teleoperation of Robots | https://ieeexplore.ieee.org/document/9560757/ | [
"Francesco De Pace",
"Gal Gorjup",
"Huidong Bai",
"Andrea Sanna",
"Minas Liarokapis",
"Mark Billinghurst",
"Francesco De Pace",
"Gal Gorjup",
"Huidong Bai",
"Andrea Sanna",
"Minas Liarokapis",
"Mark Billinghurst"
] | Many studies have focused on Virtual Reality (VR) frameworks for remotely controlling robotic systems. Although VR systems have been used to teleoperate robots in simple scenarios, their effectiveness in terms of accuracy, speed, and usability has not been rigorously evaluated for complex tasks that require accurate trajectories. In this work, an Enhanced Virtual Reality (EVR) framework for roboti... |
End-to-end Multi-Instance Robotic Reaching from Monocular Vision | https://ieeexplore.ieee.org/document/9561518/ | [
"Zheyu Zhuang",
"Xin Yu",
"Robert Mahony",
"Zheyu Zhuang",
"Xin Yu",
"Robert Mahony"
] | Multi-instance scenes are especially challenging for end-to-end visuomotor (image-to-control) learning algorithms. "Pipeline" visual servo control algorithms use separate detection, selection and servo stages, allowing algorithms to focus on a single object instance during servo control. End-to-end systems do not have separate detection and selection stages and need to address the visual ambiguiti... |
FG-Conv: Large-Scale LiDAR Point Clouds Understanding Leveraging Feature Correlation Mining and Geometric-Aware Modeling | https://ieeexplore.ieee.org/document/9561496/ | [
"Kangcheng Liu",
"Zhi Gao",
"Feng Lin",
"Ben M. Chen",
"Kangcheng Liu",
"Zhi Gao",
"Feng Lin",
"Ben M. Chen"
] | This work presents a general deep learning framework for large-scale point clouds understanding without voxelizations, called FG-Conv, which achieves an accurate and real-time understanding of point clouds. Through our novel design combining feature level correlation mining and deformable convolutions based geometric aware modeling, the local feature relationships and geometric patterns can be cap... |
Exploiting Local Geometry for Feature and Graph Construction for Better 3D Point Cloud Processing with Graph Neural Networks | https://ieeexplore.ieee.org/document/9561327/ | [
"Siddharth Srivastava",
"Gaurav Sharma",
"Siddharth Srivastava",
"Gaurav Sharma"
] | We propose simple yet effective improvements in point representations and local neighborhood graph construction within the general framework of graph neural networks (GNNs) for 3D point cloud processing. As a first contribution, we propose to augment the vertex representations with important local geometric information of the points, followed by nonlinear projection using a MLP. As a second contri... |
Stereo Object Matching Network | https://ieeexplore.ieee.org/document/9562027/ | [
"Jaesung Choe",
"Kyungdon Joo",
"Francois Rameau",
"In So Kweon",
"Jaesung Choe",
"Kyungdon Joo",
"Francois Rameau",
"In So Kweon"
] | This paper presents a stereo object matching method that exploits both 2D contextual information from images as well as 3D object-level information. Unlike existing stereo matching methods that exclusively focus on the pixel-level correspondence between stereo images within a volumetric space (i.e., cost volume), we exploit this volumetric structure in a different manner. The cost volume explicitl... |
Operational Space Control for Planar PAN–1 Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming | https://ieeexplore.ieee.org/document/9561278/ | [
"Xiangyu Chu",
"Yunxi Tang",
"Alessandro M. Giordano",
"Tan Chen",
"K. W. Samuel Au",
"Xiangyu Chu",
"Yunxi Tang",
"Alessandro M. Giordano",
"Tan Chen",
"K. W. Samuel Au"
] | In this paper, we propose an operational space control formulation for a planar N-link underactuated manipulator (PAN–1)1 with a passive first joint subject to actuator constraints (N ⩾ 3), covering both stabilization and tracking tasks. Such underactuated manipulators have an inherent first-order nonholonomic constraint, allowing us to project their dynamics to a space consistent with the nonholo... |
A Stable Control Strategy for Industrial Robots with External Feedback Loop | https://ieeexplore.ieee.org/document/9562112/ | [
"Gulam Dastagir Khan",
"Huu-Thiet Nguyen",
"Chien Chern Cheah",
"Gulam Dastagir Khan",
"Huu-Thiet Nguyen",
"Chien Chern Cheah"
] | The inner/low-level control loop of most industrial robotic manipulators is protected from any modification by a closed control architecture. The only way to specify joint inputs to them is through position or velocity commands. Furthermore, the inner controller is unknown/uncertain, as it is not revealed to the user. This makes it very difficult to determine the configuration of the inner control... |
Operational Space Control Under Actuator Bandwidth Limitation | https://ieeexplore.ieee.org/document/9560732/ | [
"Hosang Lee",
"Jaeheung Park",
"Hosang Lee",
"Jaeheung Park"
] | The actuator bandwidth limitation deteriorates the stability and performance of torque-based robot controllers. Operational space control is especially prone to this problem, since the limited bandwidth of a single actuator can reduce the performance of all related tasks simultaneously. In this article, an intuitive way to penalize low performance actuators is proposed to improve the performance o... |
Design and Implementation of a Novel, Intrinsically Safe Rigid-Flexible Coupling Manipulator for COVID-19 Oropharyngeal Swab Sampling | https://ieeexplore.ieee.org/document/9561470/ | [
"Heng Zhang",
"Qiwen Wang",
"Chuliang Chi",
"Yongquan Chen",
"Zonggao Mu",
"Zheng Li",
"Yuanmin Lan",
"Aidong Zhang",
"Heng Zhang",
"Qiwen Wang",
"Chuliang Chi",
"Yongquan Chen",
"Zonggao Mu",
"Zheng Li",
"Yuanmin Lan",
"Aidong Zhang"
] | Driven by the SARS-CoV-2 pandemic, demand for oropharyngeal swab sampling (OP-swabs) is surging. However, medical staff can easily become infected by the virus during the sampling process. In an effort to combat this, we developed a novel, intrinsically safe rigid- flexible coupling (RFC) manipulator to improve the safety and reliability of OP-swab sampling to test for COVID-19, which is presented... |
Design and Control of Fully Handheld Microsurgical Robot for Active Tremor Cancellation | https://ieeexplore.ieee.org/document/9561200/ | [
"Eunchan Kim",
"Ingu Choi",
"Sungwook Yang",
"Eunchan Kim",
"Ingu Choi",
"Sungwook Yang"
] | This paper presents the design and control of a fully handheld robot for robot-assisted microsurgery. The handheld robot incorporates a miniature 6-PUS parallel micromanipulator that can impose a remote center of motion (RCM) at the incision point of entry during microsurgery. An optimization framework is formulated to determine the geometric parameters of the micromanipulator. The optimization ai... |
Design and Experiment of a Pneumatic Soft Climbing Robot | https://ieeexplore.ieee.org/document/9560729/ | [
"Fengyu Xu",
"Yuxuan Lu",
"Zhenjiang Jiang",
"Guoping Jiang",
"Fengyu Xu",
"Yuxuan Lu",
"Zhenjiang Jiang",
"Guoping Jiang"
] | This paper designed a pneumatic soft climbing robot by utilizing the high flexibility of soft materials. Capabilities of climbing and creeping through small spaces would rarely possible with a method based only on rigid links. At first, according to the drive mode of pneumatic networks, a model for soft climbing robots with different section having their independent stiffness was designed; afterwa... |
Surface Robots based on S-Isothermic Surfaces | https://ieeexplore.ieee.org/document/9561033/ | [
"Noriyasu Iwamoto",
"Hiroaki Arai",
"Atsushi Nishikawa",
"Noriyasu Iwamoto",
"Hiroaki Arai",
"Atsushi Nishikawa"
] | Surface robots can have many applications due to multiple degrees of freedom. Accordingly, many open research questions arise due to the limited number of realized cases and insufficient theory foundation. For a surface robot that performs deformations with shear deformation, the inner product calculation in a local coordinate system on the robot generally depends on the shear angle. However, the ... |
Origami-Inspired Snap-through Bistability in Parallel and Curved Mechanisms Through the Inflection of Degree Four Vertexes | https://ieeexplore.ieee.org/document/9562094/ | [
"Bok Seng Yeow",
"Catherine Jiayi Cai",
"Manivannan Sivaperuman Kalairaj",
"Feng Wen Hoo",
"Zu Xuan Lee",
"Janice Chui Shien Tan",
"Jian Rong Ho",
"Vienna Minhui Ma",
"Hui Huang",
"Hongliang Ren",
"Bok Seng Yeow",
"Catherine Jiayi Cai",
"Manivannan Sivaperuman Kalairaj",
"Feng Wen Hoo",
"Zu Xuan Lee",
"Janice Chui Shien Tan",
"Jian Rong Ho",
"Vienna Minhui Ma",
"Hui Huang",
"Hongliang Ren"
] | Origami, the art of folding paper, can impart useful design inspirations to the creation of mechanical structures and mechanisms. Bistability is a useful property for origami designs, which can help compartmentalize different actuations and stiffness tuning regimes. Given the benefits of bistability, we investigated origami designs used to build robots and deployable structures. We show snap-throu... |
Markov Parallel Tracking and Mapping for Probabilistic SLAM | https://ieeexplore.ieee.org/document/9561238/ | [
"Zheng Huai",
"Guoquan Huang",
"Zheng Huai",
"Guoquan Huang"
] | Parallel tracking and mapping (PTAM) as a time-efficient framework for simultaneous localization and mapping (SLAM) has been becoming popular in recent years. However, in this paper, we vigilantly point out that the favorite parallel-pipeline design realized by recent proposed SLAM algorithms may lead to inaccurate state estimates which, as a consequence, cannot always guarantee the performance of... |
Multi-session Underwater Pose-graph SLAM using Inter-session Opti-acoustic Two-view Factor | https://ieeexplore.ieee.org/document/9561161/ | [
"Hyesu Jang",
"Sungho Yoon",
"Ayoung Kim",
"Hyesu Jang",
"Sungho Yoon",
"Ayoung Kim"
] | Concurrent mapping necessitates data association among vehicles to overcome temporal and sensor modality differences. In this work, we focus on an underwater multi-vehicle mapping scenario in which vehicles have various sensor modalities, namely sonar and camera. This inter-session sonar-optical image matching poses two main challenges. First, ensuring covisibility for the opti-acoustic pair is co... |
Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features | https://ieeexplore.ieee.org/document/9560911/ | [
"Hyunjun Lim",
"Yeeun Kim",
"Kwangik Jung",
"Sumin Hu",
"Hyun Myung",
"Hyunjun Lim",
"Yeeun Kim",
"Kwangik Jung",
"Sumin Hu",
"Hyun Myung"
] | In this paper, a degeneracy avoidance method for a point and line based visual SLAM algorithm is proposed. Visual SLAM predominantly uses point features. However, point features lack robustness in low texture and illuminance variant environments. Therefore, line features are used to compensate the weaknesses of point features. In addition, point features are poor in representing discernable featur... |
Not your grandmother’s toolbox – the Robotics Toolbox reinvented for Python | https://ieeexplore.ieee.org/document/9561366/ | [
"Peter Corke",
"Jesse Haviland",
"Peter Corke",
"Jesse Haviland"
] | For 25 years the Robotics Toolbox for MATLAB® has been used for teaching and research worldwide. This paper describes its successor – the Robotics Toolbox for Python. More than just a port, it takes advantage of popular open-source packages and resources to provide platform portability, fast browser-based 3D graphics, quality documentation, fast numerical and symbolic operations, powerful IDEs, sh... |
Multiple-Place Swarm Foraging with Dynamic Robot Chains | https://ieeexplore.ieee.org/document/9561124/ | [
"Dohee Lee",
"Qi Lu",
"Tsz-Chiu Au",
"Dohee Lee",
"Qi Lu",
"Tsz-Chiu Au"
] | The goal of foraging robot swarms is to search and deliver resources to a specific central collection zone quickly. In the previously proposed multiple-place foraging algorithm with dynamic depots, foraging performance decreases as search areas and swarm sizes increase: depots need to travel long distances to deliver resources to the center, and more robots produce more congestion on their journey... |
Collaborative Learning of Multiple-Discontinuous-Image Saliency Prediction for Drone Exploration | https://ieeexplore.ieee.org/document/9561681/ | [
"Ting-Tsan Chu",
"Po-Heng Chen",
"Pin-Jie Huang",
"Kuan-Wen Chen",
"Ting-Tsan Chu",
"Po-Heng Chen",
"Pin-Jie Huang",
"Kuan-Wen Chen"
] | Most of the existing saliency prediction research focuses on either single images or videos (or more precisely multiple images in sequence). However, to apply saliency prediction to drone exploration that has to consider multiple images from different view angles or localizations to determine the direction to explore, saliency prediction over multiple discontinuous images is required. In this pape... |
Positioning Control for Underactuated Unmanned Surface Vehicles to Resist Environmental Disturbances | https://ieeexplore.ieee.org/document/9561908/ | [
"Yang Qu",
"Lilong Cai",
"Yang Qu",
"Lilong Cai"
] | In this paper, we present the positioning control problem for underactuated unmanned surface vehicles (USVs) in the presence of unknown external disturbances, such as the wind, waves, and currents. The three control objectives of positioning control for underactuated USVs are, firstly, to retain a predefined constant distance to a look-ahead point, secondly, to regulate the vehicle heading to poin... |
S2P2: Self-Supervised Goal-Directed Path Planning Using RGB-D Data for Robotic Wheelchairs | https://ieeexplore.ieee.org/document/9561314/ | [
"Hengli Wang",
"Yuxiang Sun",
"Rui Fan",
"Ming Liu",
"Hengli Wang",
"Yuxiang Sun",
"Rui Fan",
"Ming Liu"
] | Path planning is a fundamental capability for autonomous navigation of robotic wheelchairs. With the impressive development of deep-learning technologies, imitation learning-based path planning approaches have achieved effective results in recent years. However, the disadvantages of these approaches are twofold: 1) they may need extensive time and labor to record expert demonstrations as training ... |
Multimodal Anomaly Detection based on Deep Auto-Encoder for Object Slip Perception of Mobile Manipulation Robots | https://ieeexplore.ieee.org/document/9561586/ | [
"Youngjae Yoo",
"Chung-Yeon Lee",
"Byoung-Tak Zhang",
"Youngjae Yoo",
"Chung-Yeon Lee",
"Byoung-Tak Zhang"
] | Object slip perception is essential for mobile manipulation robots to perform manipulation tasks reliably in the dynamic real-world. Traditional approaches to robot arms’ slip perception use tactile or vision sensors. However, mobile robots still have to deal with noise in their sensor signals caused by the robot’s movement in a changing environment. To solve this problem, we present an anomaly de... |
Route Coverage Testing for Autonomous Vehicles via Map Modeling | https://ieeexplore.ieee.org/document/9560890/ | [
"Yun Tang",
"Yuan Zhou",
"Fenghua Wu",
"Yang Liu",
"Jun Sun",
"Wuling Huang",
"Gang Wang",
"Yun Tang",
"Yuan Zhou",
"Fenghua Wu",
"Yang Liu",
"Jun Sun",
"Wuling Huang",
"Gang Wang"
] | Autonomous vehicles (AVs) play an important role in transforming our transportation systems and relieving traffic congestion. To guarantee their safety, AVs must be sufficiently tested before they are deployed to public roads. Existing testing often focuses on AVs’ collision avoidance on a given route. There is little work on the systematic testing for AVs’ route planning and tracking on a map. In... |
A data-set and a method for pointing direction estimation from depth images for human-robot interaction and VR applications | https://ieeexplore.ieee.org/document/9561143/ | [
"Shome S Das",
"Shome S Das"
] | 3D pointing devices are indispensable in virtual reality (hereafter VR) and human-robot interaction scenarios. Existing devices are cumbersome or non-immersive or have a limited volume of operation. Hand gesture-based interfaces do not suffer from these problems and can be used for 3D pointing purposes. However, there is a lack of robust, accurate hand gesture-based pointing techniques which can b... |
Extendable Navigation Network based Reinforcement Learning for Indoor Robot Exploration | https://ieeexplore.ieee.org/document/9561040/ | [
"Woo-Cheol Lee",
"Ming Chong Lim",
"Han-Lim Choi",
"Woo-Cheol Lee",
"Ming Chong Lim",
"Han-Lim Choi"
] | This paper presents a navigation network based deep reinforcement learning framework for autonomous indoor robot exploration. The presented method features a pattern cognitive non-myopic exploration strategy that can better reflect universal preferences for structure. We propose the Extendable Navigation Network (ENN) to encode the partially observed high-dimensional indoor Euclidean space to a sp... |
Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements | https://ieeexplore.ieee.org/document/9561781/ | [
"Daolin Ma",
"Siyuan Dong",
"Alberto Rodriguez",
"Daolin Ma",
"Siyuan Dong",
"Alberto Rodriguez"
] | This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the robot, in contrast to the role that aggregated force/torque measurements traditionally play in localizing contacts on the robot. When in contact with the environ... |
Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning | https://ieeexplore.ieee.org/document/9561619/ | [
"Yan Wang",
"Cristian C. Beltran-Hernandez",
"Weiwei Wan",
"Kensuke Harada",
"Yan Wang",
"Cristian C. Beltran-Hernandez",
"Weiwei Wan",
"Kensuke Harada"
] | Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic teaching, teleoperation, simulation, among other methods, the force profile is harder to obtain especially when a real robot is unavailable. It is difficult to obtain... |
Applications: Twisted String Actuation-based Compact Automatic Transmission | https://ieeexplore.ieee.org/document/9561453/ | [
"Seokhwan Jeong",
"Yeongseok Lee",
"Kyung-Soo Kim",
"Seokhwan Jeong",
"Yeongseok Lee",
"Kyung-Soo Kim"
] | Input-output transmission ratio shifting mechanisms provide a variable transmission ratio, which effectively expands a speed-force operating range of actuators. Although it is the most effective solution to increase the performance of robotic systems, its application to compact robotic systems still remains a challenging issue due to its complexity and massive structure. In this paper, we introduc... |
Power Transmission Design of Fast and Energy-Efficient Stiffness Modulation for Human Power Assistance | https://ieeexplore.ieee.org/document/9561044/ | [
"Wonseok Shin",
"Gunhee Park",
"Jooyong Lee",
"Handdeut Chang",
"Jung Kim",
"Wonseok Shin",
"Gunhee Park",
"Jooyong Lee",
"Handdeut Chang",
"Jung Kim"
] | Compliance in robot actuation provides a solution to perform safe physical human-robot interaction. Conventional compliant actuators (variable stiffness actuators, series elastic actuators) used more than two motors or closed-loop controller to modulate both stiffness and equilibrium position independently. These actuators are complex, lack of energy efficiency, and have limited stiffness range. I... |
A Novel Variable Resolution Torque Sensor Based on Variable Stiffness Principle | https://ieeexplore.ieee.org/document/9561978/ | [
"Xiantao Sun",
"Wenjie Chen",
"Jianbin Zhang",
"Jianhua Wang",
"Jun Jiang",
"Weihai Chen",
"Xiantao Sun",
"Wenjie Chen",
"Jianbin Zhang",
"Jianhua Wang",
"Jun Jiang",
"Weihai Chen"
] | High resolution and large range force/torque (F/T) measurements are usually required in many engineering tasks. However, most existing F/T sensors only have a fixed resolution over their whole ranges. The key lies in that it is difficult to well balance high resolution and large range in the sensor design. Taking the torque sensor for example, this paper presents a better compromise for this probl... |
VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms | https://ieeexplore.ieee.org/document/9561382/ | [
"Alessandro Fornasier",
"Martin Scheiber",
"Alexander Hardt-Stremayr",
"Roland Jung",
"Stephan Weiss",
"Alessandro Fornasier",
"Martin Scheiber",
"Alexander Hardt-Stremayr",
"Roland Jung",
"Stephan Weiss"
] | The research community presented significant advances in many different Visual-Inertial Navigation System (VINS) algorithms to localize mobile robots or hand-held devices in a 3D environment. While authors of the algorithms of-ten do compare to, at that time, existing competing approaches, their comparison methods, rigor, depth, and repeatability at later points in time have a large spread. Furthe... |
An Event-based Vision Dataset for Visual Navigation Tasks in Agricultural Environments | https://ieeexplore.ieee.org/document/9561741/ | [
"Andrejs Zujevs",
"Mihails Pudzs",
"Vitalijs Osadcuks",
"Arturs Ardavs",
"Maris Galauskis",
"Janis Grundspenkis",
"Andrejs Zujevs",
"Mihails Pudzs",
"Vitalijs Osadcuks",
"Arturs Ardavs",
"Maris Galauskis",
"Janis Grundspenkis"
] | a new generation of computer vision, namely event-based or neuromorphic vision, provides a new paradigm for capturing visual data and the way such data is processed. Due to a highly novel type of visual sensors used in event-based vision, only a few datasets aimed at visual navigation tasks are publicly available.In this paper, we present and describe the first event-based vision dataset intended ... |
Towards In-Field Phenotyping Exploiting Differentiable Rendering with Self-Consistency Loss | https://ieeexplore.ieee.org/document/9561356/ | [
"Federico Magistri",
"Nived Chebrolu",
"Jens Behley",
"Cyrill Stachniss",
"Federico Magistri",
"Nived Chebrolu",
"Jens Behley",
"Cyrill Stachniss"
] | In modern agriculture, measuring phenotypic traits helps breeders monitor plant growth, increase yield, and provide food, feed, and fiber. Traditional phenotyping requires intensive manual work, partially being intrusive. In this paper, we investigate the challenge of measuring phenotypic traits in an automated fashion through mobile robots operating in field environments. In particular, we want t... |
Efficient Haptic Rendering of Regolith | https://ieeexplore.ieee.org/document/9561007/ | [
"Aaron Pereira",
"Annika Schmidt",
"Aaron Pereira",
"Annika Schmidt"
] | Driven by the need for physically accurate and haptically convincing models of lunar and planetary regolith for model-mediated teleoperation in space, we present an approach to modelling regolith in an efficient yet realistic way. Model parameters are derived from physical characteristics of the regolith, to render regoliths with different density profiles, cohesion, internal friction and in diffe... |
Parameterizable and Jerk-Limited Trajectories with Blending for Robot Motion Planning and Spherical Cartesian Waypoints | https://ieeexplore.ieee.org/document/9561601/ | [
"Jianjie Lin",
"Markus Rickert",
"Alois Knoll",
"Jianjie Lin",
"Markus Rickert",
"Alois Knoll"
] | This paper presents two different approaches to generate a time local-optimal and jerk-limited trajectory with blends for a robot manipulator under consideration of kinematic constraints. The first approach generates a trajectory with blends based on the trapezoidal acceleration model by formulating the problem as a nonlinear constraint and a non-convex optimization problem. The resultant trajecto... |
Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat | https://ieeexplore.ieee.org/document/9561650/ | [
"Matias Mattamala",
"Milad Ramezani",
"Marco Camurri",
"Maurice Fallon",
"Matias Mattamala",
"Milad Ramezani",
"Marco Camurri",
"Maurice Fallon"
] | In dynamic and cramped industrial environments, achieving reliable Visual Teach and Repeat (VT&R) with a single-camera is challenging. In this work, we develop a robust method for non-synchronized multi-camera VT&R. Our contribution are expected Camera Performance Models (CPM) which evaluate the camera streams from the teach step to determine the most informative one for localization during the re... |
MS-RANAS: Multi-Scale Resource-Aware Neural Architecture Search | https://ieeexplore.ieee.org/document/9561565/ | [
"Cristian Cioflan",
"Radu Timofte",
"Cristian Cioflan",
"Radu Timofte"
] | Neural Architecture Search (NAS) has proved effective in offering outperforming alternatives to handcrafted neural networks. In this paper we analyse the benefits of NAS for image classification tasks under strict computational constraints. Our aim is to automate the design of highly efficient deep neural networks, capable of offering fast and accurate predictions and that could be deployed on a l... |
Vision-Based Mobile Robotics Obstacle Avoidance With Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9560787/ | [
"Patrick Wenzel",
"Torsten Schön",
"Laura Leal-Taixé",
"Daniel Cremers",
"Patrick Wenzel",
"Torsten Schön",
"Laura Leal-Taixé",
"Daniel Cremers"
] | Obstacle avoidance is a fundamental and challenging problem for autonomous navigation of mobile robots. In this paper, we consider the problem of obstacle avoidance in simple 3D environments where the robot has to solely rely on a single monocular camera. In particular, we are interested in solving this problem without relying on localization, mapping, or planning techniques. Most of the existing ... |
OpenBot: Turning Smartphones into Robots | https://ieeexplore.ieee.org/document/9561788/ | [
"Matthias Müller",
"Vladlen Koltun",
"Matthias Müller",
"Vladlen Koltun"
] | Current robots are either expensive or make significant compromises on sensory richness, computational power, and communication capabilities. We propose to leverage smartphones to equip robots with extensive sensor suites, powerful computational abilities, state-of-the-art communication channels, and access to a thriving software ecosystem. We design a small electric vehicle that costs $50 and ser... |
Quasi-LPV Unknown Input Observer with Nonlinear Outputs: Application to Motorcycles | https://ieeexplore.ieee.org/document/9560814/ | [
"L. Nehaoua",
"M. Fouka",
"H. Arioui",
"L. Nehaoua",
"M. Fouka",
"H. Arioui"
] | The purpose of the present work is the reconstruction of motorcycle lateral dynamics. The main idea is to estimate pertinent states and unknown inputs (rider action) with respect to nonlinear outputs due to motion transformation frames (inertial sensors are away from the local frame). To overcome this issue, we propose a new Unknown Input Observers with variable output matrix. In this paper, we ta... |
A Novel Torsional Actuator Augmenting Twisting Skeleton and Artificial Muscle for Robots in Extreme Environments | https://ieeexplore.ieee.org/document/9561957/ | [
"Zhujin Jiang",
"Ketao Zhang",
"Zhujin Jiang",
"Ketao Zhang"
] | Torsional actuators are a class of artificial muscle technology that generates torque and produces rotary motion in response to various stimuli. This paper presents a novel torsional actuator combining an origami-inspired twisting skeleton and an artificial muscle. The process of torsional actuator design starts from identifying a foldable twisting skeleton which is capable of achieving helical mo... |
Simple But Effective Redundant Odometry for Autonomous Vehicles | https://ieeexplore.ieee.org/document/9562023/ | [
"Andrzej Reinke",
"Xieyuanli Chen",
"Cyrill Stachniss",
"Andrzej Reinke",
"Xieyuanli Chen",
"Cyrill Stachniss"
] | Robust and reliable ego-motion is a key component of most autonomous mobile systems. Many odometry estimation methods have been developed using different sensors such as cameras or LiDARs. In this work, we present a resilient approach that exploits the redundancy of multiple odometry algorithms using a 3D LiDAR scanner and a monocular camera to provide reliable state estimation for autonomous vehi... |
Markov Localisation using Heatmap Regression and Deep Convolutional Odometry | https://ieeexplore.ieee.org/document/9562044/ | [
"Oscar Mendez",
"Simon Hadfield",
"Richard Bowden",
"Oscar Mendez",
"Simon Hadfield",
"Richard Bowden"
] | In the context of self-driving vehicles there is strong competition between approaches based on visual localisation and Light Detection And Ranging (LiDAR). While LiDAR provides important depth information, it is sparse in resolution and expensive. On the other hand, cameras are low-cost and recent developments in deep learning mean they can provide high localisation performance. However, several ... |
Autonomous Cooperative Visual Navigation for Planetary Exploration Robots | https://ieeexplore.ieee.org/document/9561767/ | [
"Masoud S. Bahraini",
"Abdelhafid Zenati",
"Nabil Aouf",
"Masoud S. Bahraini",
"Abdelhafid Zenati",
"Nabil Aouf"
] | Planetary robotics navigation has attracted the great attention of many researchers in recent years. Localization is one of the most important problems for robots on another planet in the lack of GPS. The robots need to be able to know their location and the surrounding map in the environment concurrently, to work and communicate together on another planet. In the current work, a novel algorithm i... |
Minimum-Effort Task-based Design Optimization of Modular Reconfigurable Robots | https://ieeexplore.ieee.org/document/9561273/ | [
"Edoardo Romiti",
"Navvab Kashiri",
"Jörn Malzahn",
"Nikos Tsagarakis",
"Edoardo Romiti",
"Navvab Kashiri",
"Jörn Malzahn",
"Nikos Tsagarakis"
] | The flexibility and adaptability of modular and re-configurable robots opens up new opportunities for on-demand robot morphology optimization for varying tasks. In particular, multi-arm robotic systems can expand the solution space for any given task. In this paper, we present a novel approach to exploit this feature for generating optimal fit-to-task robot structures with respect to a minimum-eff... |
Computational design of energy-efficient legged robots: Optimizing for size and actuators | https://ieeexplore.ieee.org/document/9560988/ | [
"G. Fadini",
"T. Flayols",
"A. Del Prete",
"N. Mansard",
"P. Souères",
"G. Fadini",
"T. Flayols",
"A. Del Prete",
"N. Mansard",
"P. Souères"
] | This paper presents a computational framework for the design of high-performance legged robotic systems. The framework relies on the concurrent optimization of hardware parameters and control trajectories to find the best robot design for a given task. In particular, we focus on energy efficiency, presenting novel electro-mechanical models to account for the losses of the actuators due to friction... |
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