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Development of Exo-Glove for Measuring 3-axis Forces Acting on the Human Finger without Obstructing Natural Human-Object Interaction | https://ieeexplore.ieee.org/document/9341609/ | [
"Prathamesh Sathe",
"Alexander Schmitz",
"Harris Kristanto",
"Chincheng Hsu",
"Tito Pradhono Tomo",
"Sophon Somlor",
"Sugano Shigeki",
"Prathamesh Sathe",
"Alexander Schmitz",
"Harris Kristanto",
"Chincheng Hsu",
"Tito Pradhono Tomo",
"Sophon Somlor",
"Sugano Shigeki"
] | Measuring the forces that humans exert with their fingers could have many potential applications, such as skill transfer from human experts to robots or monitoring humans. In this paper we introduce the "Exo-Glove" system, which can measure the joint angles and forces acting on the human finger without covering the skin that is in contact with the manipulated object. In particular, 3-axis sensors ... |
Dynamic Stability Control of Inverted-Pendulum-Type Robotic Wheelchair for Going Up and Down Stairs | https://ieeexplore.ieee.org/document/9341242/ | [
"Yuya Onozuka",
"Nobuyasu Tomokuni",
"Genki Murata",
"Motoki Shino",
"Yuya Onozuka",
"Nobuyasu Tomokuni",
"Genki Murata",
"Motoki Shino"
] | The wheelchair is the major means of transport for elderly and physically disabled people in their daily lives. However it cannot overcome architectural barriers such as curbs and stairs. In this study, we developed an inverted-pendulum-type robotic wheelchair for climbing stairs. The wheelchair has a seat slider and two rotary links between the front and rear wheels on each side. When climbing up... |
Mapping Thigh Motion to Knee Motion: Implications for Motion Planning of Active Prosthetic Knees | https://ieeexplore.ieee.org/document/9341685/ | [
"Mahdy Eslamy",
"Felix Oswald",
"Arndt Schilling",
"Mahdy Eslamy",
"Felix Oswald",
"Arndt Schilling"
] | One of the main challenges of the active assistive devices is how to estimate the motion of the missing/impaired limbs and joints in line with the remaining limbs. To do so, a motion planner is required. This study proposes a motion planner that can be used for active prosthetic/orthotic knees. The aim is to continuously estimate the knee joint positions based on the thigh motion, using as few inp... |
Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses | https://ieeexplore.ieee.org/document/9341388/ | [
"Rachel Gehlhar",
"Yuxiao Chen",
"Aaron D. Ames",
"Rachel Gehlhar",
"Yuxiao Chen",
"Aaron D. Ames"
] | This paper proposes a data-driven method for powered prosthesis control that achieves stable walking without the need for additional sensors on the human. The key idea is to extract the nominal gait and the human interaction information from motion capture data, and reconstruct the walking behavior with a dynamic model of the human-prosthesis system. The walking behavior of a human wearing a power... |
IMU-based Deep Neural Networks for Locomotor Intention Prediction | https://ieeexplore.ieee.org/document/9341649/ | [
"Huaitian Lu",
"Lambert R.B. Schomaker",
"Raffaella Carloni",
"Huaitian Lu",
"Lambert R.B. Schomaker",
"Raffaella Carloni"
] | This paper focuses on the design and comparison of different deep neural networks for the real-time prediction of locomotor intentions by using data from inertial measurement units. The deep neural network architectures are convolutional neural networks, recurrent neural networks, and convolutional recurrent neural networks. The input to the architectures are features in the time domain, which hav... |
Development of dementia care training system based on augmented reality and whole body wearable tactile sensor | https://ieeexplore.ieee.org/document/9341039/ | [
"Tomoki Hiramatsu",
"Masaya Kamei",
"Daiji Inoue",
"Akihiro Kawamura",
"Qi An",
"Ryo Kurazume",
"Tomoki Hiramatsu",
"Masaya Kamei",
"Daiji Inoue",
"Akihiro Kawamura",
"Qi An",
"Ryo Kurazume"
] | This study develops a training system for a multimodal comprehensive care methodology for dementia patients called Humanitude. Humanitude has attracted much attention as a gentle and effective care technique. It consists of four main techniques, namely, eye contact, verbal communication, touch, and standing up, and more than 150 care elements. Learning Humanitude thus requires much time. To provid... |
Examination of Screen-Indicated Methods of Gait Training System with Real-time Audiovisual Feedback Function of Ground Reaction Force | https://ieeexplore.ieee.org/document/9341614/ | [
"Kei Fukuyama",
"Ichiro Kurose",
"Hidetaka Ikeuchi",
"Kei Fukuyama",
"Ichiro Kurose",
"Hidetaka Ikeuchi"
] | In gait training for walking rehabilitation of patients with stroke hemiplegia or bone joint conditions such as fractures, it is important to recognize the load of the affected lower limbs for improving gait ability and avoiding risks such as re-fractures. A weight scale is used at the actual rehabilitation site to recognize the load. However, in this situation, the trainee must look down to verif... |
A Mixed-Integer Model Predictive Control Approach to Motion Cueing in Immersive Wheelchair Simulator | https://ieeexplore.ieee.org/document/9341674/ | [
"Le Anh Dao",
"Alessio Prini",
"Matteo Malosio",
"Angelo Davalli",
"Marco Sacco",
"Le Anh Dao",
"Alessio Prini",
"Matteo Malosio",
"Angelo Davalli",
"Marco Sacco"
] | To allow wheelchair (electronic or manual) users to practice driving in different safe, repeatable and controlled scenarios, the use of simulator as a training tool is considered here. In this context, the capabilities of providing high fidelity motions for users of the simulator is highlighted as one of the most important aspects for the effectiveness of the tool. For this purpose, the motion cue... |
EDAN: An EMG-controlled Daily Assistant to Help People With Physical Disabilities | https://ieeexplore.ieee.org/document/9341156/ | [
"Jörn Vogel",
"Annette Hagengruber",
"Maged Iskandar",
"Gabriel Quere",
"Ulrike Leipscher",
"Samuel Bustamante",
"Alexander Dietrich",
"Hannes Höppner",
"Daniel Leidner",
"Alin Albu-Schäffer",
"Jörn Vogel",
"Annette Hagengruber",
"Maged Iskandar",
"Gabriel Quere",
"Ulrike Leipscher",
"Samuel Bustamante",
"Alexander Dietrich",
"Hannes Höppner",
"Daniel Leidner",
"Alin Albu-Schäffer"
] | Injuries, accidents, strokes, and other diseases can significantly degrade the capabilities to perform even the most simple activities in daily life. A large share of these cases involves neuromuscular diseases, which lead to severely reduced muscle function. However, even though affected people are no longer able to move their limbs, residual muscle function can still be existent. Previous work h... |
Real-time Virtual Coach using LSTM for Assisting Physical Therapists with End-effector-based Robot-assisted Gait Training | https://ieeexplore.ieee.org/document/9341523/ | [
"Yeongsik Seo",
"Eunkyeong Lee",
"Suncheol Kwon",
"Won-Kyung Song",
"Yeongsik Seo",
"Eunkyeong Lee",
"Suncheol Kwon",
"Won-Kyung Song"
] | With the development of robotic technology, the demand for state-of-the-art technology in the field of rehabilitation is rapidly increasing for the elderly and people with disabilities. In this paper, we propose a real-time virtual coach to assist physical therapists with the end-effector-based robot-assisted gait training for stroke survivors using Long Short-Term Memory (LSTM) networks. Our prop... |
Applying Force Perturbations Using a Wearable Robotic Neck Brace | https://ieeexplore.ieee.org/document/9340638/ | [
"Haohan Zhang",
"Victor Santamaria",
"Sunil Agrawal",
"Haohan Zhang",
"Victor Santamaria",
"Sunil Agrawal"
] | Force perturbation is used in this paper to study cervical neuromuscular responses which can be used in the future to assess impairments in patients with neurological diseases. Current literature on this topic is limited to applying forces on the head in the anterior-posterior direction, perhaps due to technological limitations. In this paper, we propose to use a robotic neck brace to address thes... |
Proactive Estimation of Occlusions and Scene Coverage for Planning Next Best Views in an Unstructured Representation | https://ieeexplore.ieee.org/document/9341681/ | [
"Rowan Border",
"Jonathan D. Gammell",
"Rowan Border",
"Jonathan D. Gammell"
] | The process of planning views to observe a scene is known as the Next Best View (NBV) problem. Approaches often aim to obtain high-quality scene observations while reducing the number of views, travel distance and computational cost. Considering occlusions and scene coverage can significantly reduce the number of views and travel distance required to obtain an observation. Structured representatio... |
Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera | https://ieeexplore.ieee.org/document/9341163/ | [
"Jonathan Tremblay",
"Stephen Tyree",
"Terry Mosier",
"Stan Birchfield",
"Jonathan Tremblay",
"Stephen Tyree",
"Terry Mosier",
"Stan Birchfield"
] | We present a robotic grasping system that uses a single external monocular RGB camera as input. The object-to-robot pose is computed indirectly by combining the output of two neural networks: one that estimates the object-to-camera pose, and another that estimates the robot-to-camera pose. Both networks are trained entirely on synthetic data, relying on domain randomization to bridge the sim-to-re... |
Peg-in-Hole Using 3D Workpiece Reconstruction and CNN-based Hole Detection | https://ieeexplore.ieee.org/document/9341068/ | [
"Michelangelo Nigro",
"Monica Sileo",
"Francesco Pierri",
"Katia Genovese",
"Domenico D. Bloisi",
"Fabrizio Caccavale",
"Michelangelo Nigro",
"Monica Sileo",
"Francesco Pierri",
"Katia Genovese",
"Domenico D. Bloisi",
"Fabrizio Caccavale"
] | This paper presents a method to cope with autonomous assembly tasks in the presence of uncertainties. To this aim, a Peg-in-Hole operation is considered, where the target workpiece position is unknown and the peg-hole clearance is small. Deep learning based hole detection and 3D surface reconstruction techniques are combined for accurate workpiece localization. In detail, the hole is detected by u... |
Automated Folding of a Deformable Thin Object through Robot Manipulators | https://ieeexplore.ieee.org/document/9341239/ | [
"Zhenxi Cui",
"Kaicheng Huang",
"Bo Lu",
"Henry K. Chu",
"Zhenxi Cui",
"Kaicheng Huang",
"Bo Lu",
"Henry K. Chu"
] | This paper presents a model-free approach to automate folding of a deformable object with robot manipulators, where its surface was labelled with markers to facilitate vision-based control and alignment. While performing the task involves solving nonconvex or nonlinear terms, in this paper, linearization was first performed to approximate the problem. By using the Levenberg-Marquardt algorithm, th... |
Uncertainty Aware Texture Classification and Mapping Using Soft Tactile Sensors | https://ieeexplore.ieee.org/document/9341045/ | [
"Alexander Amini",
"Jeffrey I. Lipton",
"Daniela Rus",
"Alexander Amini",
"Jeffrey I. Lipton",
"Daniela Rus"
] | Spatial mapping of surface roughness is a critical enabling technology for automating adaptive sanding operations. We leverage GelSight sensors to convert the problem of surface roughness measurement into a vision classification problem. By combining GelSight sensors with Optitrack positioning systems we attempt to develop an accurate spatial mapping of surface roughness that can compare to human ... |
Estimating Motion Codes from Demonstration Videos | https://ieeexplore.ieee.org/document/9341065/ | [
"Maxat Alibayev",
"David Paulius",
"Yu Sun",
"Maxat Alibayev",
"David Paulius",
"Yu Sun"
] | A motion taxonomy can encode manipulations as a binary-encoded representation, which we refer to as motion codes. These motion codes innately represent a manipulation action in an embedded space that describes the motion’s mechanical features, including contact and trajectory type. The key advantage of using motion codes for embedding is that motions can be more appropriately defined with robotic-... |
Zero-tuning Grinding Process Methodology of Cyber-Physical Robot System | https://ieeexplore.ieee.org/document/9341102/ | [
"Hsuan-Yu Yang",
"Chih-Hsuan Shih",
"Yuan-Chieh Lo",
"Feng-Li Lian",
"Hsuan-Yu Yang",
"Chih-Hsuan Shih",
"Yuan-Chieh Lo",
"Feng-Li Lian"
] | Industrial robots play potential and important roles on labor-intensive and high-risk jobs. For example, typical industrial robots have been used in grinding process. However, the automatic grinding process by robots is a complex process because it still relies on skillful engineers to adaptively adjust several key parameters. Moreover, it might take a lot of time and effort to yield better grindi... |
An External Stabilization Unit for High-Precision Applications of Robot Manipulators | https://ieeexplore.ieee.org/document/9341454/ | [
"Tobias F. C. Berninger",
"Tomas Slimak",
"Tobias Weber",
"Daniel J. Rixen",
"Tobias F. C. Berninger",
"Tomas Slimak",
"Tobias Weber",
"Daniel J. Rixen"
] | Because of their large workspace, robot manipulators have the potential to be used for high precision non-contact manufacturing processes, such as laser cutting or welding, on large complex work pieces. However, most industrial manipulators are not able to provide the necessary accuracy requirements. Mainly because of their flexible structures, they are subject to point to point positioning errors... |
CUHK-AHU Dataset: Promoting Practical Self-Driving Applications in the Complex Airport Logistics, Hill and Urban Environments | https://ieeexplore.ieee.org/document/9341317/ | [
"Wen Chen",
"Zhe Liu",
"Hongchao Zhao",
"Shunbo Zhou",
"Haoang Li",
"Yun-Hui Liu",
"Wen Chen",
"Zhe Liu",
"Hongchao Zhao",
"Shunbo Zhou",
"Haoang Li",
"Yun-Hui Liu"
] | This paper presents a novel dataset targeting three types of challenging environments for autonomous driving, i.e., the industrial logistics environment, the undulating hill environment and the mixed complex urban environment. To the best of the author’s knowledge, similar dataset has not been published in the existing public datasets, especially for the logistics environment collected in the func... |
Distributed Near-optimal Multi-robots Coordination in Heterogeneous Task Allocation | https://ieeexplore.ieee.org/document/9341652/ | [
"Qinyuan Li",
"Minyi Li",
"Bao Quoc Vo",
"Ryszard Kowalczyk",
"Qinyuan Li",
"Minyi Li",
"Bao Quoc Vo",
"Ryszard Kowalczyk"
] | This paper explores the heterogeneous task allocation problem in Multi-robot systems. A game-theoretic formulation of the problem is proposed to align the goal of individual robots with the system objective. The concept of Nash equilibrium is applied to define a desired solution for the task allocation problem in which each robot can allocate itself to an appropriate task group. We also introduce ... |
Heterogeneous Vehicle Routing and Teaming with Gaussian Distributed Energy Uncertainty | https://ieeexplore.ieee.org/document/9341433/ | [
"Bo Fu",
"William Smith",
"Denise Rizzo",
"Matthew Castanier",
"Kira Barton",
"Bo Fu",
"William Smith",
"Denise Rizzo",
"Matthew Castanier",
"Kira Barton"
] | For robot swarms operating on complex missions in an uncertain environment, it is important that the decision-making algorithm considers both heterogeneity and uncertainty. This paper presents a stochastic programming framework for the vehicle routing problem with stochastic travel energy costs and heterogeneous vehicles and tasks. We represent the heterogeneity as linear constraints, estimate the... |
Long-Run Multi-Robot Planning under Uncertain Action Durations for Persistent Tasks | https://ieeexplore.ieee.org/document/9340901/ | [
"Carlos Azevedo",
"Bruno Lacerda",
"Nick Hawes",
"Pedro Lima",
"Carlos Azevedo",
"Bruno Lacerda",
"Nick Hawes",
"Pedro Lima"
] | This paper presents an approach for multi-robot long-term planning under uncertainty over the duration of actions. The proposed methodology takes advantage of generalized stochastic Petri nets with rewards (GSPNR) to model multi-robot problems. A GSPNR allows for unified modeling of action selection, uncertainty on the duration of action execution, and for goal specification through the use of tra... |
Algorithm for Multi-Robot Chance-Constrained Generalized Assignment Problem with Stochastic Resource Consumption | https://ieeexplore.ieee.org/document/9341726/ | [
"Fan Yang",
"Nilanjan Chakraborty",
"Fan Yang",
"Nilanjan Chakraborty"
] | We present a novel algorithm for the multi-robot generalized assignment problem (GAP) with stochastic resource consumption. In this problem, each robot has a resource (e.g., battery life) constraint and it consumes a certain amount of resource to perform a task. In practice, the resource consumed for performing a task can be uncertain. Therefore, we assume that the resource consumption is a random... |
The Pluggable Distributed Resource Allocator (PDRA): a Middleware for Distributed Computing in Mobile Robotic Networks | https://ieeexplore.ieee.org/document/9341205/ | [
"Federico Rossi",
"Tiago Stegun Vaquero",
"Marc Sanchez-Net",
"Maíra Saboia da Silva",
"Joshua Vander Hook",
"Federico Rossi",
"Tiago Stegun Vaquero",
"Marc Sanchez-Net",
"Maíra Saboia da Silva",
"Joshua Vander Hook"
] | We present the Pluggable Distributed Resource Allocator (PDRA), a middleware for distributed computing in heterogeneous mobile robotic networks. PDRA enables autonomous robotic agents to share computational resources for computationally expensive tasks such as localization and path planning. It sits between an existing single-agent planner/executor and existing computational resources (e.g. ROS pa... |
The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth | https://ieeexplore.ieee.org/document/9340849/ | [
"Milad Ramezani",
"Yiduo Wang",
"Marco Camurri",
"David Wisth",
"Matias Mattamala",
"Maurice Fallon",
"Milad Ramezani",
"Yiduo Wang",
"Marco Camurri",
"David Wisth",
"Matias Mattamala",
"Maurice Fallon"
] | In this paper, we present a large dataset with a variety of mobile mapping sensors collected using a handheld device carried at typical walking speeds for nearly 2.2 km around New College, Oxford as well as a series of supplementary datasets with much more aggressive motion and lighting contrast. The datasets include data from two commercially available devices - a stereoscopic-inertial camera and... |
Faster than FAST: GPU-Accelerated Frontend for High-Speed VIO | https://ieeexplore.ieee.org/document/9340851/ | [
"Balázs Nagy",
"Philipp Foehn",
"Davide Scaramuzza",
"Balázs Nagy",
"Philipp Foehn",
"Davide Scaramuzza"
] | The recent introduction of powerful embedded graphics processing units (GPUs) has allowed for unforeseen improvements in real-time computer vision applications. It has enabled algorithms to run onboard, well above the standard video rates, yielding not only higher information processing capability, but also reduced latency. This work focuses on the applicability of efficient low-level, GPU hardwar... |
GPU Parallelization of Policy Iteration RRT# | https://ieeexplore.ieee.org/document/9341411/ | [
"R. Connor Lawson",
"Linda Wills",
"Panagiotis Tsiotras",
"R. Connor Lawson",
"Linda Wills",
"Panagiotis Tsiotras"
] | Sampling-based planning has become a de facto standard for complex robots given its superior ability to rapidly explore high-dimensional configuration spaces. Most existing optimal sampling-based planning algorithms are sequential in nature and cannot take advantage of wide parallelism available on modern computer hardware. Further, tight synchronization of exploration and exploitation phases in t... |
ROS-lite: ROS Framework for NoC-Based Embedded Many-Core Platform | https://ieeexplore.ieee.org/document/9340977/ | [
"Takuya Azumi",
"Yuya Maruyama",
"Shinpei Kato",
"Takuya Azumi",
"Yuya Maruyama",
"Shinpei Kato"
] | This paper proposes ROS-lite, a robot operating system (ROS) development framework for embedded many- core platforms based on network-on-chip (NoC) technology. Many-core platforms support the high processing capacity and low power consumption requirement of embedded systems. In this study, a self-driving software platform module is parallelized to run on many-core processors to demonstrate the pra... |
Sim2Real Transfer for Reinforcement Learning without Dynamics Randomization | https://ieeexplore.ieee.org/document/9341260/ | [
"Manuel Kaspar",
"Juan D. Muñoz Osorio",
"Juergen Bock",
"Manuel Kaspar",
"Juan D. Muñoz Osorio",
"Juergen Bock"
] | We show how to use the Operational Space Control framework (OSC) under joint and Cartesian constraints for reinforcement learning in Cartesian space. Our method is able to learn fast and with adjustable degrees of freedom, while we are able to transfer policies without additional dynamics randomizations on a KUKA LBR iiwa peg-in-hole task. Before learning in simulation starts, we perform a system ... |
Learning the sense of touch in simulation: a sim-to-real strategy for vision-based tactile sensing | https://ieeexplore.ieee.org/document/9341285/ | [
"Carmelo Sferrazza",
"Thomas Bi",
"Raffaello D’Andrea",
"Carmelo Sferrazza",
"Thomas Bi",
"Raffaello D’Andrea"
] | Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize when applied to various tasks. This paper focuses on both these aspects with regard to a vision-based tactile sensor, which aims to reconstruct the distribution ... |
Reinforced Grounded Action Transformation for Sim-to-Real Transfer | https://ieeexplore.ieee.org/document/9341149/ | [
"Haresh Karnan",
"Siddharth Desai",
"Josiah P. Hanna",
"Garrett Warnell",
"Peter Stone",
"Haresh Karnan",
"Siddharth Desai",
"Josiah P. Hanna",
"Garrett Warnell",
"Peter Stone"
] | Robots can learn to do complex tasks in simulation, but often, learned behaviors fail to transfer well to the real world due to simulator imperfections (the "reality gap"). Some existing solutions to this sim-to-real problem, such as Grounded Action Transformation (gat), use a small amount of real-world experience to minimize the reality gap by "grounding" the simulator. While very effective in ce... |
Adaptability Preserving Domain Decomposition for Stabilizing Sim2Real Reinforcement Learning | https://ieeexplore.ieee.org/document/9341124/ | [
"Haichuan Gao",
"Zhile Yang",
"Xin Su",
"Tian Tan",
"Feng Chen",
"Haichuan Gao",
"Zhile Yang",
"Xin Su",
"Tian Tan",
"Feng Chen"
] | In sim-to-real transfer of Reinforcement Learning (RL) policies for robot tasks, Domain Randomization (DR) is a widely used technique for improving adaptability. However, in DR there is a conflict between adaptability and training stability, and heavy DR tends to result in instability or even failure in training. To relieve this conflict, we propose a new algorithm named Domain Decomposition (DD) ... |
Sim-to-Real with Domain Randomization for Tumbling Robot Control | https://ieeexplore.ieee.org/document/9341057/ | [
"Andrew Schwartzwald",
"Nikolaos Papanikolopoulos",
"Andrew Schwartzwald",
"Nikolaos Papanikolopoulos"
] | Tumbling locomotion allows for small robots to traverse comparatively rough terrain, however, their motion is complex and difficult to control. Existing tumbling robot control methods involve manual control or the assumption of at terrain. Reinforcement learning allows for the exploration and exploitation of diverse environments. By utilizing reinforcement learning with domain randomization, a rob... |
Pedestrian Motion Tracking by Using Inertial Sensors on the Smartphone | https://ieeexplore.ieee.org/document/9341173/ | [
"Yingying Wang",
"Hu Cheng",
"Max Q.-H. Meng",
"Yingying Wang",
"Hu Cheng",
"Max Q.-H. Meng"
] | Inertial Measurement Unit (IMU) has long been a dream for stable and reliable motion estimation, especially in indoor environments where GPS strength limits. In this paper, we propose a novel method for position and orientation estimation of a moving object only from a sequence of IMU signals collected from the phone. Our main observation is that human motion is monotonous and periodic. We adopt t... |
A Bayesian approach for gas source localization in large indoor environments | https://ieeexplore.ieee.org/document/9341747/ | [
"Yaqub Aris Prabowo",
"Ravindra Ranasinghe",
"Gamini Dissanayake",
"Bambang Riyanto",
"Brian Yuliarto",
"Yaqub Aris Prabowo",
"Ravindra Ranasinghe",
"Gamini Dissanayake",
"Bambang Riyanto",
"Brian Yuliarto"
] | The main contribution of this paper is a probabilistic estimator that assists a mobile robot to locate a gas source in an indoor environment. The scenario is that a robot equipped with a gas sensor enters a building after the gas is released due to a leak or explosion. The problem is discretized by dividing the environment into a set of regions and time into a set of time intervals. Likelihood fun... |
Towards Real-Time Non-Gaussian SLAM for Underdetermined Navigation | https://ieeexplore.ieee.org/document/9341490/ | [
"Dehann Fourie",
"Nicholas R. Rypkema",
"Pedro Vaz Teixeira",
"Sam Claassens",
"Erin Fischell",
"John Leonard",
"Dehann Fourie",
"Nicholas R. Rypkema",
"Pedro Vaz Teixeira",
"Sam Claassens",
"Erin Fischell",
"John Leonard"
] | This paper presents a method for processing sparse, non-Gaussian multimodal data in a simultaneous localization and mapping (SLAM) framework using factor graphs. Our approach demonstrates the feasibility of using a sum-product inference strategy to recover functional belief marginals from highly non-Gaussian situations, relaxing the prolific unimodal Gaussian assumption. The method is more focused... |
An Augmented Reality Spatial Referencing System for Mobile Robots | https://ieeexplore.ieee.org/document/9340742/ | [
"Sonia Mary Chacko",
"Armando Granado",
"Ashwin RajKumar",
"Vikram Kapila",
"Sonia Mary Chacko",
"Armando Granado",
"Ashwin RajKumar",
"Vikram Kapila"
] | The deployment of a mobile service robot in domestic settings is a challenging task due to the dynamic and unstructured nature of such environments. Successful operation of the robot requires continuous human supervision to update its spatial knowledge about the dynamic environment. Thus, it is essential to develop a human-robot interaction (HRI) strategy that is suitable for novice end users to e... |
Pit30M: A Benchmark for Global Localization in the Age of Self-Driving Cars | https://ieeexplore.ieee.org/document/9340924/ | [
"Julieta Martinez",
"Sasha Doubov",
"Jack Fan",
"loan Andrei Bârsan",
"Shenlong Wang",
"Gellért Máttyus",
"Raquel Urtasun",
"Julieta Martinez",
"Sasha Doubov",
"Jack Fan",
"loan Andrei Bârsan",
"Shenlong Wang",
"Gellért Máttyus",
"Raquel Urtasun"
] | We are interested in understanding whether retrieval-based localization approaches are good enough in the context of self-driving vehicles. Towards this goal, we introduce Pit30M, a new image and LiDAR dataset with over 30 million frames, which is 10 to 100 times larger than those used in previous work. Pit30M is captured under diverse conditions (i.e., season, weather, time of the day, traffic), ... |
SolarSLAM: Battery-free Loop Closure for Indoor Localisation | https://ieeexplore.ieee.org/document/9340962/ | [
"Bo Wei",
"Weitao Xu",
"Chengwen Luo",
"Guillaume Zoppi",
"Dong Ma",
"Sen Wang",
"Bo Wei",
"Weitao Xu",
"Chengwen Luo",
"Guillaume Zoppi",
"Dong Ma",
"Sen Wang"
] | In this paper, we propose SolarSLAM, a batteryfree loop closure method for indoor localisation. Inertial Measurement Unit (IMU) based indoor localisation method has been widely used due to its ubiquity in mobile devices, such as mobile phones, smartwatches and wearable bands. However, it suffers from the unavoidable long term drift. To mitigate the localisation error, many loop closure solutions h... |
Robot-to-Robot Relative Pose Estimation based on Semidefinite Relaxation Optimization | https://ieeexplore.ieee.org/document/9341568/ | [
"Ming Li",
"Guanqi Liang",
"Haobo Luo",
"Huihuan Qian",
"Tin Lun Lam",
"Ming Li",
"Guanqi Liang",
"Haobo Luo",
"Huihuan Qian",
"Tin Lun Lam"
] | In this paper, the 2D robot-to-robot relative pose (position and orientation) estimation problem based on ego-motion and noisy distance measurements is considered. We address this problem using an optimization-based method, which does not require complicated numerical analysis while yields no inferior relative localization (RL) results compared to existing approaches. In particular, we start from ... |
A Model-based Approach to Acoustic Reflector Localization with a Robotic Platform | https://ieeexplore.ieee.org/document/9341437/ | [
"Usama Saqib",
"Jesper Rindom Jensen",
"Usama Saqib",
"Jesper Rindom Jensen"
] | Constructing a spatial map of an indoor environment, e.g., a typical office environment with glass surfaces, is a difficult and challenging task. Current state-of-the-art, e.g., camera- and laser-based approaches are unsuitable for detecting transparent surfaces. Hence, the spatial map generated with these approaches are often inaccurate. In this paper, a method that utilizes echolocation with sou... |
TP-TIO: A Robust Thermal-Inertial Odometry with Deep ThermalPoint | https://ieeexplore.ieee.org/document/9341716/ | [
"Shibo Zhao",
"Peng Wang",
"Hengrui Zhang",
"Zheng Fang",
"Sebastian Scherer",
"Shibo Zhao",
"Peng Wang",
"Hengrui Zhang",
"Zheng Fang",
"Sebastian Scherer"
] | To achieve robust motion estimation in visually degraded environments, thermal odometry has been an attraction in the robotics community. However, most thermal odometry methods are purely based on classical feature extractors, which is difficult to establish robust correspondences in successive frames due to sudden photometric changes and large thermal noise. To solve this problem, we propose Ther... |
Versatile 3D Multi-Sensor Fusion for Lightweight 2D Localization | https://ieeexplore.ieee.org/document/9341264/ | [
"Patrick Geneva",
"Nathaniel Merrill",
"Yulin Yang",
"Chuchu Chen",
"Woosik Lee",
"Guoquan Huang",
"Patrick Geneva",
"Nathaniel Merrill",
"Yulin Yang",
"Chuchu Chen",
"Woosik Lee",
"Guoquan Huang"
] | Aiming for a lightweight and robust localization solution for low-cost, low-power autonomous robot platforms, such as educational or industrial ground vehicles, under challenging conditions (e.g., poor sensor calibration, low lighting and dynamic objects), we propose a two-stage localization system which incorporates both offline prior map building and online multi-modal localization. In particula... |
UWB-based System for UAV Localization in GNSS-Denied Environments: Characterization and Dataset | https://ieeexplore.ieee.org/document/9341042/ | [
"Jorge Peña Queralta",
"Carmen Martínez Almansa",
"Fabrizio Schiano",
"Dario Floreano",
"Tomi Westerlund",
"Jorge Peña Queralta",
"Carmen Martínez Almansa",
"Fabrizio Schiano",
"Dario Floreano",
"Tomi Westerlund"
] | Small unmanned aerial vehicles (UAV) have penetrated multiple domains over the past years. In GNSS-denied or indoor environments, aerial robots require a robust and stable localization system, often with external feedback, in order to fly safely. Motion capture systems are typically utilized indoors when accurate localization is needed. However, these systems are expensive and most require a fixed... |
Ultra-Wideband Aided UAV Positioning Using Incremental Smoothing with Ranges and Multilateration | https://ieeexplore.ieee.org/document/9341439/ | [
"Jungwon Kang",
"Kunwoo Park",
"Zahra Arjmandi",
"Gunho Sohn",
"Mozhdeh Shahbazi",
"Patrick Ménard",
"Jungwon Kang",
"Kunwoo Park",
"Zahra Arjmandi",
"Gunho Sohn",
"Mozhdeh Shahbazi",
"Patrick Ménard"
] | In this paper, we present a novel smoothing approach for ultra-wideband (UWB) aided unmanned aerial vehicle (UAV) positioning. Existing works based on smoothing or filtering estimate 3D position of UAV by updating a solution for each single 1D low-dimensional UWB range measurement. However, a low-dimensional single range measurement merely acts as a weak constraint in a solution space for UAV posi... |
BRM Localization: UAV Localization in GNSS-Denied Environments Based on Matching of Numerical Map and UAV Images | https://ieeexplore.ieee.org/document/9341682/ | [
"Junho Choi",
"Hyun Myung",
"Junho Choi",
"Hyun Myung"
] | Localization is one of the most important technologies needed to use Unmanned Aerial Vehicles (UAVs) in actual fields. Currently, most UAVs use GNSS to estimate their position. Recently, there have been attacks that target the weaknesses of UAVs that use GNSS, such as interrupting GNSS signal to crash the UAVs or sending fake GNSS signals to hijack the UAVs. To avoid this kind of situation, this p... |
Inertial Velocity Estimation for Indoor Navigation Through Magnetic Gradient-based EKF and LSTM Learning Model | https://ieeexplore.ieee.org/document/9340772/ | [
"Makia Zmitri",
"Hassen Fourati",
"Christophe Prieur",
"Makia Zmitri",
"Hassen Fourati",
"Christophe Prieur"
] | This paper presents a novel method to improve the inertial velocity estimation of a mobile body, for indoor navigation, using solely raw data from a triad of inertial sensors (accelerometer and gyroscope), as well as a determined arrangement of magnetometers array. The key idea of the method is the use of deep neural networks to dynamically tune the measurement covariance matrix of an Extended Kal... |
An Implementation of the Adaptive Neuro-Fuzzy Inference System (ANFIS) for Odor Source Localization | https://ieeexplore.ieee.org/document/9341688/ | [
"Lingxiao Wang",
"Shuo Pang",
"Lingxiao Wang",
"Shuo Pang"
] | In this paper, we investigate the viability of implementing machine learning (ML) algorithms to solve the odor source localization (OSL) problem. The primary objective is to obtain an ML model that guides and navigates a mobile robot to find an odor source without explicating searching algorithms. To achieve this goal, the model of an adaptive neuro-fuzzy inference system (ANFIS) is employed to ge... |
Visual-Inertial-Wheel Odometry with Online Calibration | https://ieeexplore.ieee.org/document/9341161/ | [
"Woosik Lee",
"Kevin Eckenhoff",
"Yulin Yang",
"Patrick Geneva",
"Guoquan Huang",
"Woosik Lee",
"Kevin Eckenhoff",
"Yulin Yang",
"Patrick Geneva",
"Guoquan Huang"
] | In this paper, we introduce a novel visual-inertial-wheel odometry (VIWO) system for ground vehicles, which efficiently fuses multi-modal visual, inertial and 2D wheel odometry measurements in a sliding-window filtering fashion. As multi-sensor fusion requires both intrinsic and extrinsic (spatiotemproal) calibration parameters which may vary over time during terrain navigation, we propose to perf... |
Active Perception for Outdoor Localisation with an Omnidirectional Camera | https://ieeexplore.ieee.org/document/9340974/ | [
"Maleen Jayasuriya",
"Ravindra Ranasinghe",
"Gamini Dissanayake",
"Maleen Jayasuriya",
"Ravindra Ranasinghe",
"Gamini Dissanayake"
] | This paper presents a novel localisation framework based on an omnidirectional camera, targeted at outdoor urban environments. Bearing only information to persistent and easily observable high-level semantic landmarks (such as lamp-posts, street-signs and trees) are perceived using a Convolutional Neural Network (CNN). The framework utilises an information theoretic strategy to decide the best vie... |
Ground Texture Based Localization: Do We Need to Detect Keypoints? | https://ieeexplore.ieee.org/document/9340996/ | [
"Jan Fabian Schmid",
"Stephan F. Simon",
"Rudolf Mester",
"Jan Fabian Schmid",
"Stephan F. Simon",
"Rudolf Mester"
] | Localization using ground texture images recorded with a downward-facing camera is a promising approach to achieve reliable high-accuracy vehicle positioning. A common way to accomplish the task is to focus on prominent features of the ground texture such as stones and cracks. Our results indicate that with an approximately known camera pose it is sufficient to use arbitrary ground regions, i.e. e... |
Vision Global Localization with Semantic Segmentation and Interest Feature Points | https://ieeexplore.ieee.org/document/9341069/ | [
"Kai Li",
"Xudong Zhang",
"Kun LI",
"Shuo Zhang",
"Kai Li",
"Xudong Zhang",
"Kun LI",
"Shuo Zhang"
] | In this work, we present a vision-only global localization architecture for autonomous vehicle applications, and achieves centimeter-level accuracy and high robustness in various scenarios. We first apply pixel-wise segmentation to the front-view mono camera and extract the semantic features, e.g. pole-like objects, lane markings, and curbs, which are robust to illumination, viewing angles and sea... |
Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences | https://ieeexplore.ieee.org/document/9341690/ | [
"Huai Yu",
"Weikun Zhen",
"Wen Yang",
"Ji Zhang",
"Sebastian Scherer",
"Huai Yu",
"Weikun Zhen",
"Wen Yang",
"Ji Zhang",
"Sebastian Scherer"
] | Light-weight camera localization in existing maps is essential for vision-based navigation. Currently, visual and visual-inertial odometry (VO&VIO) techniques are well-developed for state estimation but with inevitable accumulated drifts and pose jumps upon loop closure. To overcome these problems, we propose an efficient monocular camera localization method in prior LiDAR maps using direct 2D-3D ... |
Monocular Localization in HD Maps by Combining Semantic Segmentation and Distance Transform | https://ieeexplore.ieee.org/document/9341003/ | [
"Jan-Hendrik Pauls",
"Kürsat Petek",
"Fabian Poggenhans",
"Christoph Stiller",
"Jan-Hendrik Pauls",
"Kürsat Petek",
"Fabian Poggenhans",
"Christoph Stiller"
] | Easy, yet robust long-term localization is still an open topic in research. Existing approaches require either dense maps, expensive sensors, specialized map features or proprietary detectors.We propose using semantic segmentation on a monocular camera to localize directly in a HD map as used for automated driving. This combines lightweight, yet powerful HD maps with the simplicity of monocular vi... |
Learning an Overlap-based Observation Model for 3D LiDAR Localization | https://ieeexplore.ieee.org/document/9340769/ | [
"Xieyuanli Chen",
"Thomas Läbe",
"Lorenzo Nardi",
"Jens Behley",
"Cyrill Stachniss",
"Xieyuanli Chen",
"Thomas Läbe",
"Lorenzo Nardi",
"Jens Behley",
"Cyrill Stachniss"
] | Localization is a crucial capability for mobile robots and autonomous cars. In this paper, we address learning an observation model for Monte-Carlo localization using 3D LiDAR data. We propose a novel, neural network-based observation model that computes the expected overlap of two 3D LiDAR scans. The model predicts the overlap and yaw angle offset between the current sensor reading and virtual fr... |
Global Localization Over 2D Floor Plans with Free-Space Density Based on Depth Information | https://ieeexplore.ieee.org/document/9340642/ | [
"Renan Maffei",
"Diego Pittol",
"Mathias Mantelli",
"Edson Prestes",
"Mariana Kolberg",
"Renan Maffei",
"Diego Pittol",
"Mathias Mantelli",
"Edson Prestes",
"Mariana Kolberg"
] | Many applications with mobile robots require self-localization in indoor maps. While such maps can be previously generated by SLAM strategies, there are various localization approaches that use 2D floor plans as reference input. In this paper, we present a localization strategy using floor plan as map, which is based on spatial density information computed from dense depth data of RGB-D cameras. W... |
A Point Cloud Registration Pipeline using Gaussian Process Regression for Bathymetric SLAM | https://ieeexplore.ieee.org/document/9340944/ | [
"Thomas Hitchcox",
"James Richard Forbes",
"Thomas Hitchcox",
"James Richard Forbes"
] | Point cloud registration is a means of achieving loop closure correction within a simultaneous localization and mapping (SLAM) algorithm. Data association is a critical component in point cloud registration, and can be very challenging in feature-depleted environments such as seabed. This paper presents a point cloud registration pipeline for performing loop closure correction in feature-depleted ... |
A Robust Multi-Stereo Visual-Inertial Odometry Pipeline | https://ieeexplore.ieee.org/document/9341604/ | [
"Joshua Jaekel",
"Joshua G. Mangelson",
"Sebastian Scherer",
"Michael Kaess",
"Joshua Jaekel",
"Joshua G. Mangelson",
"Sebastian Scherer",
"Michael Kaess"
] | In this paper we present a novel multi-stereo visual-inertial odometry (VIO) framework which aims to improve the robustness of a robot's state estimate during aggressive motion and in visually challenging environments. Our system uses a fixed-lag smoother which jointly optimizes for poses and landmarks across all stereo pairs. We propose a 1-point RANdom SAmple Consensus (RANSAC) algorithm which i... |
Globally optimal consensus maximization for robust visual inertial localization in point and line map | https://ieeexplore.ieee.org/document/9340715/ | [
"Yanmei Jiao",
"Yue Wang",
"Bo Fu",
"Qimeng Tan",
"Lei Chen",
"Minhang Wang",
"Shoudong Huang",
"Rong Xiong",
"Yanmei Jiao",
"Yue Wang",
"Bo Fu",
"Qimeng Tan",
"Lei Chen",
"Minhang Wang",
"Shoudong Huang",
"Rong Xiong"
] | Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the main challenge is the presence of outliers, especially in changing environment. In this paper, we propose a robust solution based on efficient global optimization ... |
Improving Visual SLAM in Car-Navigated Urban Environments with Appearance Maps | https://ieeexplore.ieee.org/document/9341451/ | [
"Alberto Jaenal",
"David Zuñiga-Nöel",
"Ruben Gomez-Ojeda",
"Javier Gonzalez-Jimenez",
"Alberto Jaenal",
"David Zuñiga-Nöel",
"Ruben Gomez-Ojeda",
"Javier Gonzalez-Jimenez"
] | This paper describes a method that corrects errors of a VSLAM-estimated trajectory for cars driving in GPS-denied environments, by applying constraints from public databases of geo-tagged images (Google Street View, Mapillary, etc). The method, dubbed Appearance-based Geo-Alignment for Simultaneous Localisation and Mapping (AGA-SLAM), encodes the available image database as an appearance map, whic... |
CoBigICP: Robust and Precise Point Set Registration using Correntropy Metrics and Bidirectional Correspondence | https://ieeexplore.ieee.org/document/9340857/ | [
"Pengyu Yin",
"Di Wang",
"Shaoyi Du",
"Shihui Ying",
"Yue Gao",
"Nanning Zheng",
"Pengyu Yin",
"Di Wang",
"Shaoyi Du",
"Shihui Ying",
"Yue Gao",
"Nanning Zheng"
] | In this paper, we propose a novel probabilistic variant of iterative closest point (ICP) dubbed as CoBigICP. The method leverages both local geometrical information and global noise characteristics. Locally, the 3D structure of both target and source clouds are incorporated into the objective function through bidirectional correspondence. Globally, error metric of correntropy is introduced as nois... |
The Masked Mapper: Masked Metric Mapping | https://ieeexplore.ieee.org/document/9341471/ | [
"Acshi Haggenmiller",
"Cameron Kabacinski",
"Maximilian Krogius",
"Edwin Olson",
"Acshi Haggenmiller",
"Cameron Kabacinski",
"Maximilian Krogius",
"Edwin Olson"
] | In this paper, we propose a flexible mapping scheme that uses a masking function (mask) to focus the attention of a pose graph SLAM (Simultaneous Localization and Mapping) system. The masking function takes the robot's observations and returns true if the robot is in an important location. State-of-the-art methods in SLAM generate dense metric lidar maps, creating precise maps at a high computatio... |
Allocating Limited Sensing Resources to Accurately Map Dynamic Environments | https://ieeexplore.ieee.org/document/9340719/ | [
"Derek Mitchell",
"Nathan Michael",
"Derek Mitchell",
"Nathan Michael"
] | This work addresses the problem of learning a model of a dynamic environment using many independent Hidden Markov Models (HMMs) with a limited number of observations available per iteration. Many techniques exist to model dynamic environments, but do not consider how to deploy robots to build this model. Additionally, there are many techniques for exploring environments that do not consider how to... |
Adaptive Kernel Inference for Dense and Sharp Occupancy Grids | https://ieeexplore.ieee.org/document/9341099/ | [
"Youngsun Kwon",
"Bochang Moon",
"Sung-Eui Yoon",
"Youngsun Kwon",
"Bochang Moon",
"Sung-Eui Yoon"
] | In this paper, we present a new approach, AKIMap, that uses an adaptive kernel inference for dense and sharp occupancy grid representations. Our approach is based on the multivariate kernel estimation, and we propose a simple, two-stage based method that selects an adaptive bandwidth matrix for an efficient and accurate occupancy estimation. To utilize correlations of occupancy observations given ... |
Detecting Usable Planar Regions for Legged Robot Locomotion | https://ieeexplore.ieee.org/document/9341000/ | [
"Sylvain Bertrand",
"Inho Lee",
"Bhavyansh Mishra",
"Duncan Calvert",
"Jerry Pratt",
"Robert Griffin",
"Sylvain Bertrand",
"Inho Lee",
"Bhavyansh Mishra",
"Duncan Calvert",
"Jerry Pratt",
"Robert Griffin"
] | Awareness of the environment is essential for mobile robots. Perception for legged robots requires high levels of reliability and accuracy in order to walk stably in the types of complex, cluttered environments we are interested in. In this paper, we present a usable environmental perception algorithm designed to detect steppable areas and obstacles for the autonomous generation of desired foothol... |
Accurate Mapping and Planning for Autonomous Racing | https://ieeexplore.ieee.org/document/9341702/ | [
"Leiv Andresen",
"Adrian Brandemuehl",
"Alex Honger",
"Benson Kuan",
"Niclas Vödisch",
"Hermann Blum",
"Victor Reijgwart",
"Lukas Bernreiter",
"Lukas Schaupp",
"Jen Jen Chung",
"Mathias Burki",
"Martin R. Oswald",
"Roland Siegwart",
"Abel Gawel",
"Leiv Andresen",
"Adrian Brandemuehl",
"Alex Honger",
"Benson Kuan",
"Niclas Vödisch",
"Hermann Blum",
"Victor Reijgwart",
"Lukas Bernreiter",
"Lukas Schaupp",
"Jen Jen Chung",
"Mathias Burki",
"Martin R. Oswald",
"Roland Siegwart",
"Abel Gawel"
] | This paper presents the perception, mapping, and planning pipeline implemented on an autonomous race car. It was developed by the 2019 AMZ driverless team for the Formula Student Germany (FSG) 2019 driverless competition, where it won 1st place overall. The presented solution combines early fusion of camera and LiDAR data, a layered mapping approach, and a planning approach that uses Bayesian filt... |
Crowdsourced 3D Mapping: A Combined Multi-View Geometry and Self-Supervised Learning Approach | https://ieeexplore.ieee.org/document/9341243/ | [
"Hemang Chawla",
"Matti Jukola",
"Terence Brouns",
"Elahe Arani",
"Bahram Zonooz",
"Hemang Chawla",
"Matti Jukola",
"Terence Brouns",
"Elahe Arani",
"Bahram Zonooz"
] | The ability to efficiently utilize crowd-sourced visual data carries immense potential for the domains of large scale dynamic mapping and autonomous driving. However, state-of-the-art methods for crowdsourced 3D mapping assume prior knowledge of camera intrinsics. In this work we propose a framework that estimates the 3D positions of semantically meaningful landmarks such as traffic signs without ... |
Efficient Multiresolution Scrolling Grid for Stereo Vision-based MAV Obstacle Avoidance | https://ieeexplore.ieee.org/document/9341718/ | [
"Eric Dexheimer",
"Joshua G. Mangelson",
"Sebastian Scherer",
"Michael Kaess",
"Eric Dexheimer",
"Joshua G. Mangelson",
"Sebastian Scherer",
"Michael Kaess"
] | Fast, aerial navigation in cluttered environments requires a suitable map representation for path planning. In this paper, we propose the use of an efficient, structured multiresolution representation that expands the sensor range of dense local grids for memory-constrained platforms. While similar data structures have been proposed, we avoid processing redundant occupancy information and use the ... |
DenseFusion: Large-Scale Online Dense Pointcloud and DSM Mapping for UAVs | https://ieeexplore.ieee.org/document/9341413/ | [
"Lin Chen",
"Yong Zhao",
"Shibiao Xu",
"Shuhui Bu",
"Pengcheng Han",
"Gang Wan",
"Lin Chen",
"Yong Zhao",
"Shibiao Xu",
"Shuhui Bu",
"Pengcheng Han",
"Gang Wan"
] | With the rapidly developing unmanned aerial vehicles, the requirements of generating maps efficiently and quickly are increasing. To realize online mapping, we develop a real-time dense mapping framework named DenseFusion which can incrementally generates dense geo-referenced 3D point cloud, digital orthophoto map (DOM) and digital surface model (DSM) from sequential aerial images with optional GP... |
Sampling-based search for a semi-cooperative target | https://ieeexplore.ieee.org/document/9340839/ | [
"Isaac Vandermeulen",
"Roderich Groß",
"Andreas Kolling",
"Isaac Vandermeulen",
"Roderich Groß",
"Andreas Kolling"
] | Searching for a lost teammate is an important task for multirobot systems. We present a variant of rapidly-expanding random trees (RRT) for generating search paths based on a probabilistic belief of the target teammate's position. The belief is updated using a hidden Markov model built from knowledge of the target's planned or historic behavior. For any candidate search path, this belief is used t... |
Decentralised Self-Organising Maps for Multi-Robot Information Gathering | https://ieeexplore.ieee.org/document/9341106/ | [
"Graeme Best",
"Geoffrey A. Hollinger",
"Graeme Best",
"Geoffrey A. Hollinger"
] | This paper presents a new coordination algorithm for decentralised multi-robot information gathering. We consider planning for an online variant of the multi-agent orienteering problem with neighbourhoods. This formulation closely aligns with a number of important tasks in robotics, including inspection, surveillance, and reconnaissance. We propose a decentralised variant of the self-organising ma... |
Asynchronous Adaptive Sampling and Reduced-Order Modeling of Dynamic Processes by Robot Teams via Intermittently Connected Networks | https://ieeexplore.ieee.org/document/9341636/ | [
"Hannes Rovina",
"Tahiya Salam",
"Yiannis Kantaros",
"M. Ani Hsieh",
"Hannes Rovina",
"Tahiya Salam",
"Yiannis Kantaros",
"M. Ani Hsieh"
] | This work presents an asynchronous multi-robot adaptive sampling strategy through the synthesis of an intermittently connected mobile robot communication network. The objective is to enable a team of robots to adaptively sample and model a nonlinear dynamic spatiotemporal process. By employing an intermittently connected communication network, the team is not required to maintain an all-time conne... |
Inter-Robot Range Measurements in Pose Graph Optimization | https://ieeexplore.ieee.org/document/9341227/ | [
"Elizabeth R. Boroson",
"Robert Hewitt",
"Nora Ayanian",
"Jean-Pierre de la Croix",
"Elizabeth R. Boroson",
"Robert Hewitt",
"Nora Ayanian",
"Jean-Pierre de la Croix"
] | For multiple robots performing exploration in a previously unmapped environment, such as planetary exploration, maintaining accurate localization and building a consistent map are vital. If the robots do not have a map to localize against and do not explore the same area, they may not be able to find visual loop closures to constrain their relative poses, making traditional SLAM impossible. This p... |
An Approach to Reduce Communication for Multi-agent Mapping Applications | https://ieeexplore.ieee.org/document/9341117/ | [
"Michael E. Kepler",
"Daniel J. Stilwell",
"Michael E. Kepler",
"Daniel J. Stilwell"
] | In the context of a multi-agent system that uses a Gaussian process to estimate a spatial field of interest, we propose an approach that enables an agent to reduce the amount of data it shares with other agents. The main idea of the strategy is to rigorously assign a novelty metric to each measurement as it is collected, and only measurements that are sufficiently novel are communicated. We consid... |
π-Map: A Decision-Based Sensor Fusion with Global Optimization for Indoor Mapping | https://ieeexplore.ieee.org/document/9341798/ | [
"Zhiliu Yang",
"Bo Yu",
"Wei Hu",
"Jie Tang",
"Shaoshan Liu",
"Chen Liu",
"Zhiliu Yang",
"Bo Yu",
"Wei Hu",
"Jie Tang",
"Shaoshan Liu",
"Chen Liu"
] | In this paper, we propose π-map, a tightly coupled fusion mechanism that dynamically consumes LiDAR and sonar data to generate reliable and scalable indoor maps for autonomous robot navigation. The key novelty of π-map over previous attempts is the utilization of a fusion mechanism that works in three stages: the first LiDAR scan matching stage efficiently generates initial key localization poses;... |
MOZARD: Multi-Modal Localization for Autonomous Vehicles in Urban Outdoor Environments | https://ieeexplore.ieee.org/document/9341400/ | [
"Lukas Schaupp",
"Patrick Pfreundschuh",
"Mathias Bürki",
"Cesar Cadena",
"Roland Siegwart",
"Juan Nieto",
"Lukas Schaupp",
"Patrick Pfreundschuh",
"Mathias Bürki",
"Cesar Cadena",
"Roland Siegwart",
"Juan Nieto"
] | Visually poor scenarios are one of the main sources of failure in visual localization systems in outdoor environments. To address this challenge, we present MOZARD, a multi-modal localization system for urban outdoor environments using vision and LiDAR. By fusing key point based visual multi-session information with semantic data, an improved localization recall can be achieved across vastly diffe... |
Consistent Covariance Pre-Integration for Invariant Filters with Delayed Measurements | https://ieeexplore.ieee.org/document/9340833/ | [
"Eren Allak",
"Alessandro Fornasier",
"Stephan Weiss",
"Eren Allak",
"Alessandro Fornasier",
"Stephan Weiss"
] | Sensor fusion systems merging (multiple) delayed sensor signals through a statistical approach are challenging setups, particularly for resource constrained platforms. For statistical consistency, one would be required to keep an appropriate history, apply the correcting signal at the given time stamp in the past, and re-apply all information received until the present time. This re-calculation be... |
Synchronization of Microphones Based on Rank Minimization of Warped Spectrum for Asynchronous Distributed Recording | https://ieeexplore.ieee.org/document/9341584/ | [
"Katsutoshi Itoyama",
"Kazuhiro Nakadai",
"Katsutoshi Itoyama",
"Kazuhiro Nakadai"
] | This paper describes a new method for synchronizing microphones based on spectral warping in an asynchronous microphone array. In an audio signal observed by an asynchronous microphone array, two factors are involved: the time lag caused by a mismatch of the sampling rate and offset between microphones, and the modulation caused by differences in spatial transfer function between the sound source ... |
Self-supervised Neural Audio-Visual Sound Source Localization via Probabilistic Spatial Modeling | https://ieeexplore.ieee.org/document/9340938/ | [
"Yoshiki Masuyama",
"Yoshiaki Bando",
"Kohei Yatabe",
"Yoko Sasaki",
"Masaki Onishi",
"Yasuhiro Oikawa",
"Yoshiki Masuyama",
"Yoshiaki Bando",
"Kohei Yatabe",
"Yoko Sasaki",
"Masaki Onishi",
"Yasuhiro Oikawa"
] | Detecting sound source objects within visual observation is important for autonomous robots to comprehend surrounding environments. Since sounding objects have a large variety with different appearances in our living environments, labeling all sounding objects is impossible in practice. This calls for self-supervised learning which does not require manual labeling. Most of conventional self-superv... |
Material Mapping in Unknown Environments using Tapping Sound | https://ieeexplore.ieee.org/document/9341346/ | [
"Shyam Sundar Kannan",
"Wonse Jo",
"Ramviyas Parasuraman",
"Byung-Cheol Min",
"Shyam Sundar Kannan",
"Wonse Jo",
"Ramviyas Parasuraman",
"Byung-Cheol Min"
] | In this paper, we propose an autonomous exploration and a tapping mechanism-based material mapping system for a mobile robot in unknown environments. The goal of the proposed system is to integrate simultaneous localization and mapping (SLAM) modules and sound-based material classification to enable a mobile robot to explore an unknown environment autonomously and at the same time identify the var... |
Dense Decentralized Multi-robot SLAM based on locally consistent TSDF submaps | https://ieeexplore.ieee.org/document/9341680/ | [
"Rodolphe Dubois",
"Alexandre Eudes",
"Julien Moras",
"Vincent Frémont",
"Rodolphe Dubois",
"Alexandre Eudes",
"Julien Moras",
"Vincent Frémont"
] | This article introduces a decentralized multi-robot algorithm for Simultaneous Localization And Mapping (SLAM) inspired from previous work on collaborative mapping [1]. This method makes robots jointly build and exchange i) a collection of 3D dense locally consistent submaps, based on a Truncated Signed Distance Field (TSDF) representation of the environment, and ii) a pose-graph representation wh... |
A decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs | https://ieeexplore.ieee.org/document/9340790/ | [
"Jiarong Lin",
"Xiyuan Liu",
"Fu Zhang",
"Jiarong Lin",
"Xiyuan Liu",
"Fu Zhang"
] | LiDAR is playing a more and more essential role in autonomous driving vehicles for objection detection, self localization and mapping. A single LiDAR frequently suffers from hardware failure (e.g., temporary loss of connection) due to the harsh vehicle environment (e.g., temperature, vibration, etc.), or performance degradation due to the lack of sufficient geometry features, especially for solid-... |
Better Together: Online Probabilistic Clique Change Detection in 3D Landmark-Based Maps | https://ieeexplore.ieee.org/document/9341789/ | [
"Samuel Bateman",
"Kyle Harlow",
"Christoffer Heckman",
"Samuel Bateman",
"Kyle Harlow",
"Christoffer Heckman"
] | Many modern simultaneous localization and mapping (SLAM) techniques rely on sparse landmark-based maps due to their real-time performance. However, these techniques frequently assert that these landmarks are fixed in position over time, known as the static-world assumption. This is rarely, if ever, the case in most real-world environments. Even worse, over long deployments, robots are bound to obs... |
Real-Time Multi-SLAM System for Agent Localization and 3D Mapping in Dynamic Scenarios | https://ieeexplore.ieee.org/document/9340646/ | [
"Pierre Alliez",
"Fabien Bonardi",
"Samia Bouchafa",
"Jean-Yves Didier",
"Hicham Hadj-Abdelkader",
"Fernando Ireta Muñoz",
"Viachaslau Kachurka",
"Bastien Rault",
"Maxime Robin",
"David Roussel",
"Pierre Alliez",
"Fabien Bonardi",
"Samia Bouchafa",
"Jean-Yves Didier",
"Hicham Hadj-Abdelkader",
"Fernando Ireta Muñoz",
"Viachaslau Kachurka",
"Bastien Rault",
"Maxime Robin",
"David Roussel"
] | This paper introduces a Wearable SLAM system that performs indoor and outdoor SLAM in real time. The related project is part of the MALIN challenge which aims at creating a system to track emergency response agents in complex scenarios (such as dark environments, smoked rooms, repetitive patterns, building floor transitions and doorway crossing problems), where GPS technology is insufficient or in... |
TartanAir: A Dataset to Push the Limits of Visual SLAM | https://ieeexplore.ieee.org/document/9341801/ | [
"Wenshan Wang",
"Delong Zhu",
"Xiangwei Wang",
"Yaoyu Hu",
"Yuheng Qiu",
"Chen Wang",
"Yafei Hu",
"Ashish Kapoor",
"Sebastian Scherer",
"Wenshan Wang",
"Delong Zhu",
"Xiangwei Wang",
"Yaoyu Hu",
"Yuheng Qiu",
"Chen Wang",
"Yafei Hu",
"Ashish Kapoor",
"Sebastian Scherer"
] | We present a challenging dataset, the TartanAir, for robot navigation tasks and more. The data is collected in photo-realistic simulation environments with the presence of moving objects, changing light and various weather conditions. By collecting data in simulations, we are able to obtain multi-modal sensor data and precise ground truth labels such as the stereo RGB image, depth image, segmentat... |
From Points to Planes - Adding Planar Constraints to Monocular SLAM Factor Graphs | https://ieeexplore.ieee.org/document/9340805/ | [
"Charlotte Arndt",
"Reza Sabzevari",
"Javier Civera",
"Charlotte Arndt",
"Reza Sabzevari",
"Javier Civera"
] | Planar structures are common in man-made environments. Their addition to monocular SLAM algorithms is of relevance in order to achieve more complete and higher- level scene representations. Also, the additional constraints they introduce might reduce the estimation errors in certain situations. In this paper we present a novel formulation to incorporate plane landmarks and planar constraints to fe... |
Robust Monocular Edge Visual Odometry through Coarse-to-Fine Data Association | https://ieeexplore.ieee.org/document/9341052/ | [
"Xiaolong Wu",
"Patricio A. Vela",
"Cédric Pradalier",
"Xiaolong Wu",
"Patricio A. Vela",
"Cédric Pradalier"
] | This work describes a monocular visual odometry framework, which exploits the best attributes of edge features for illumination-robust camera tracking, while at the same time ameliorating the performance degradation of edge mapping. In the front-end, an ICP-based edge registration provides robust motion estimation and coarse data association under lighting changes. In the back-end, a novel edge-gu... |
SaD-SLAM: A Visual SLAM Based on Semantic and Depth Information | https://ieeexplore.ieee.org/document/9341180/ | [
"Xun Yuan",
"Song Chen",
"Xun Yuan",
"Song Chen"
] | Simultaneous Localization and Mapping (SLAM) is considered significant for intelligent mobile robot autonomous pathfinding. Over the past years, many successful SLAM systems have been developed and works satisfactorily in static environments. However, in some dynamic scenes with moving objects, the camera pose estimation error would be unacceptable, or the systems even lose their locations. In thi... |
Exploiting Semantic and Public Prior Information in MonoSLAM | https://ieeexplore.ieee.org/document/9340845/ | [
"Chenxi Ye",
"Yiduo Wang",
"Ziwen Lu",
"Igor Gilitschenski",
"Martin Parsley",
"Simon J. Julier",
"Chenxi Ye",
"Yiduo Wang",
"Ziwen Lu",
"Igor Gilitschenski",
"Martin Parsley",
"Simon J. Julier"
] | In this paper, we propose a method to use semantic information to improve the use of map priors in a sparse, feature-based MonoSLAM system. To incorporate the priors, the features in the prior and SLAM maps must be associated with one another. Most existing systems build a map using SLAM and then align it with the prior map. However, this approach assumes that the local map is accurate, and the ma... |
Dual-SLAM: A framework for robust single camera navigation | https://ieeexplore.ieee.org/document/9341513/ | [
"Huajian Huang",
"Wen-Yan Lin",
"Siying Liu",
"Dong Zhang",
"Sai-Kit Yeung",
"Huajian Huang",
"Wen-Yan Lin",
"Siying Liu",
"Dong Zhang",
"Sai-Kit Yeung"
] | SLAM (Simultaneous Localization And Mapping) seeks to provide a moving agent with real-time self-localization. To achieve real-time speed, SLAM incrementally propagates position estimates. This makes SLAM fast but also makes it vulnerable to local pose estimation failures. As local pose estimation is ill-conditioned, local pose estimation failures happen regularly, making the overall SLAM system b... |
Deep Keypoint-Based Camera Pose Estimation with Geometric Constraints | https://ieeexplore.ieee.org/document/9341229/ | [
"You-Yi Jau",
"Rui Zhu",
"Hao Su",
"Manmohan Chandraker",
"You-Yi Jau",
"Rui Zhu",
"Hao Su",
"Manmohan Chandraker"
] | Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier rejection have been a dominant choice for over a decade. Although multiple works propose to replace these modules with learning-based counterparts, most have n... |
DXSLAM: A Robust and Efficient Visual SLAM System with Deep Features | https://ieeexplore.ieee.org/document/9340907/ | [
"Dongjiang Li",
"Xuesong Shi",
"Qiwei Long",
"Shenghui Liu",
"Wei Yang",
"Fangshi Wang",
"Qi Wei",
"Fei Qiao",
"Dongjiang Li",
"Xuesong Shi",
"Qiwei Long",
"Shenghui Liu",
"Wei Yang",
"Fangshi Wang",
"Qi Wei",
"Fei Qiao"
] | A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and association is still empirically designed in most cases, and can be vulnerable in complex environments. This paper shows that feature extraction with deep convoluti... |
EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association | https://ieeexplore.ieee.org/document/9341757/ | [
"Yanmin Wu",
"Yunzhou Zhang",
"Delong Zhu",
"Yonghui Feng",
"Sonya Coleman",
"Dermot Kerr",
"Yanmin Wu",
"Yunzhou Zhang",
"Delong Zhu",
"Yonghui Feng",
"Sonya Coleman",
"Dermot Kerr"
] | Object-level data association and pose estimation play a fundamental role in semantic SLAM, which remain unsolved due to the lack of robust and accurate algorithms. In this work, we propose an ensemble data associate strategy for integrating the parametric and nonparametric statistic tests. By exploiting the nature of different statistics, our method can effectively aggregate the information of di... |
Dynamic Object Tracking and Masking for Visual SLAM | https://ieeexplore.ieee.org/document/9340958/ | [
"Jonathan Vincent",
"Mathieu Labbé",
"Jean-Samuel Lauzon",
"François Grondin",
"Pier-Marc Comtois-Rivet",
"François Michaud",
"Jonathan Vincent",
"Mathieu Labbé",
"Jean-Samuel Lauzon",
"François Grondin",
"Pier-Marc Comtois-Rivet",
"François Michaud"
] | In dynamic environments, performance of visual SLAM techniques can be impaired by visual features taken from moving objects. One solution is to identify those objects so that their visual features can be removed for localization and mapping. This paper presents a simple and fast pipeline that uses deep neural networks, extended Kalman filters and visual SLAM to improve both localization and mappin... |
Comparing Visual Odometry Systems in Actively Deforming Simulated Colon Environments | https://ieeexplore.ieee.org/document/9341159/ | [
"Mitchell J. Fulton",
"J. Micah Prendergast",
"Emily R. DiTommaso",
"Mark E. Rentschler",
"Mitchell J. Fulton",
"J. Micah Prendergast",
"Emily R. DiTommaso",
"Mark E. Rentschler"
] | This paper presents a new open-source dataset with ground truth position in a simulated colon environment to promote development of real-time feedback systems for physicians performing colonoscopies. Four systems (DSO, LSD-SLAM, SfMLearner, ORB-SLAM2) are tested on this dataset and their failures are analyzed. A data collection platform was fabricated and used to take the dataset in a colonoscopy ... |
Speed and Memory Efficient Dense RGB-D SLAM in Dynamic Scenes | https://ieeexplore.ieee.org/document/9341542/ | [
"Bruce Canovas",
"Michèle Rombaut",
"Amaury Nègre",
"Denis Pellerin",
"Serge Olympieff",
"Bruce Canovas",
"Michèle Rombaut",
"Amaury Nègre",
"Denis Pellerin",
"Serge Olympieff"
] | Real-time dense 3D localization and mapping systems are required to enable robotics platforms to interact in and with their environments. Several solutions have used surfel representations to model the world. While they produce impressive results, they require heavy and costly hardware to operate properly. Many of them are also limited to static environments and small inter-frame motions. Whereas ... |
DUI-VIO: Depth Uncertainty Incorporated Visual Inertial Odometry based on an RGB-D Camera | https://ieeexplore.ieee.org/document/9341592/ | [
"He Zhang",
"Cang Ye",
"He Zhang",
"Cang Ye"
] | This paper presents a new visual-inertial odometry, term DUI-VIO, for estimating the motion state of an RGB-D camera. First, a Gaussian mixture model (GMM) to is employed to model the uncertainty of the depth data for each pixel on the camera's color image. Second, the uncertainties are incorporated into the VIO's initialization and optimization processes to make the state estimate more accurate. ... |
Probabilistic Qualitative Localization and Mapping | https://ieeexplore.ieee.org/document/9341269/ | [
"Roee Mor",
"Vadim Indelman",
"Roee Mor",
"Vadim Indelman"
] | Simultaneous localization and mapping (SLAM) is essential in numerous robotics applications such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While existing algorithms exhibit good results, they are still sensitive to measurement noise, sensors quality, data association and are still computationally expensive.... |
Robust Ego and Object 6-DoF Motion Estimation and Tracking | https://ieeexplore.ieee.org/document/9341552/ | [
"Jun Zhang",
"Mina Henein",
"Robert Mahony",
"Viorela Ila",
"Jun Zhang",
"Mina Henein",
"Robert Mahony",
"Viorela Ila"
] | The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate estimation and consistent track-ability for dynamic multi-body visual odometry. A compact and effective framework is proposed leveraging recent advances in semantic i... |
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