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Mind Control of a Service Robot with Visual Servoing | https://ieeexplore.ieee.org/document/9636079/ | [
"Lina Zhang",
"Zhe Sun",
"Feng Duan",
"Chi Zhu",
"Hiroshi Yokoi",
"Lina Zhang",
"Zhe Sun",
"Feng Duan",
"Chi Zhu",
"Hiroshi Yokoi"
] | In the growing elderly population globally, patients with severe movement disorders account for a large proportion. Moreover, the development of intelligent service equipment can better assist them in their daily. This paper proposes a new service robot control system. The brain-computer interface (BCI) based on Steady-State Visual Evoked Potentials (SSVEP) is used to acquire and process electroen... |
Sampling-Based MPC for Constrained Vision Based Control | https://ieeexplore.ieee.org/document/9635970/ | [
"Ihab S. Mohamed",
"Guillaume Allibert",
"Philippe Martinet",
"Ihab S. Mohamed",
"Guillaume Allibert",
"Philippe Martinet"
] | Visual servoing control schemes, such as Image-Based (IBVS), Pose Based (PBVS) or Hybrid-Based (HBVS) have been extensively developed over the last decades making possible their uses in a large number of applications. It is well-known that the main problems to be handled concern the presence of local minima or singularities, the visibility constraint, the joint limits, etc. Recently, Model Predict... |
Robot-assisted Breast Ultrasound Scanning Using Geometrical Analysis of the Seroma and Image Segmentation | https://ieeexplore.ieee.org/document/9636401/ | [
"Mojtaba Akbari",
"Jay Carriere",
"Ron Sloboda",
"Tyler Meyer",
"Nawaid Usmani",
"Siraj Husain",
"Mahdi Tavakoli",
"Mojtaba Akbari",
"Jay Carriere",
"Ron Sloboda",
"Tyler Meyer",
"Nawaid Usmani",
"Siraj Husain",
"Mahdi Tavakoli"
] | In this paper, we propose a robotic ultrasound imaging method that scans the breast in two separate phases to acquire high-quality ultrasound images. Our proposed system controls five Degrees of Freedom (DoFs) of the robot that hold an ultrasound probe to perform precise scanning. This system finds the desired trajectory based on geometrical analysis of the target inside the breast in a pre-scan p... |
Multi-scale Laplacian-based FMM for shape control | https://ieeexplore.ieee.org/document/9636857/ | [
"Ignacio Cuiral-Zueco",
"Gonzalo López-Nicolás",
"Ignacio Cuiral-Zueco",
"Gonzalo López-Nicolás"
] | Shape control has become a prominent research field as it enables the automation of tasks in many applications. Overall, deforming an object to a desired target shape by using few grippers is a major challenge. The limited information about the object dynamics, the need to combine small and large deformations in order to achieve certain target shapes and the non-linear nature of most deformable ob... |
RTVS: A Lightweight Differentiable MPC Framework for Real-Time Visual Servoing | https://ieeexplore.ieee.org/document/9636290/ | [
"M. Nomaan Qureshi",
"Pushkal Katara",
"Abhinav Gupta",
"Harit Pandya",
"Y V S Harish",
"AadilMehdi Sanchawala",
"Gourav Kumar",
"Brojeshwar Bhowmick",
"K. Madhava Krishna",
"M. Nomaan Qureshi",
"Pushkal Katara",
"Abhinav Gupta",
"Harit Pandya",
"Y V S Harish",
"AadilMehdi Sanchawala",
"Gourav Kumar",
"Brojeshwar Bhowmick",
"K. Madhava Krishna"
] | Recent data-driven approaches to visual servoing have shown improved performances over classical methods due to precise feature matching and depth estimation. Some recent servoing approaches use a model predictive control (MPC) framework which generalise well to novel environments and are capable of incorporating dynamic constraints, but are computationally intractable in real-time, making it diff... |
Unsupervised Vehicle Re-Identification via Self-supervised Metric Learning using Feature Dictionary | https://ieeexplore.ieee.org/document/9636545/ | [
"Jongmin Yu",
"Hyeontaek Oh",
"Jongmin Yu",
"Hyeontaek Oh"
] | The key challenge of unsupervised vehicle re-identification (Re-ID) is learning discriminative features from unlabelled vehicle images. Numerous methods using domain adaptation have achieved outstanding performance, but those methods still need a labelled dataset as a source domain. This paper addresses an unsupervised vehicle Re-ID method, which no need any types of a labelled dataset, through a ... |
Monocular 3D Vehicle Detection Using Uncalibrated Traffic Cameras through Homography | https://ieeexplore.ieee.org/document/9636384/ | [
"Minghan Zhu",
"Songan Zhang",
"Yuanxin Zhong",
"Pingping Lu",
"Huei Peng",
"John Lenneman",
"Minghan Zhu",
"Songan Zhang",
"Yuanxin Zhong",
"Pingping Lu",
"Huei Peng",
"John Lenneman"
] | This paper proposes a method to extract the position and pose of vehicles in the 3D world from a single traffic camera. Most previous monocular 3D vehicle detection algorithms focused on cameras on vehicles from the perspective of a driver, and assumed known intrinsic and extrinsic calibration. On the contrary, this paper focuses on the same task using uncalibrated monocular traffic cameras. We ob... |
Drive on Pedestrian Walk. TUK Campus Dataset | https://ieeexplore.ieee.org/document/9636848/ | [
"Hannan Ejaz Keen",
"Qazi Hamza Jan",
"Karsten Berns",
"Hannan Ejaz Keen",
"Qazi Hamza Jan",
"Karsten Berns"
] | Autonomous driving in a pedestrian zone is a challenging task. Technische Universitaet Kaiserslautern (TUK) is currently researching autonomous driving on the university campus for elderly or disabled people. This paper presents a novel campus dataset from the TUK campus, recorded over the span of one year for an autonomous bus project. John Deere’s Gator X855D is used for the work which is equipp... |
Stereo Waterdrop Removal with Row-wise Dilated Attention | https://ieeexplore.ieee.org/document/9636216/ | [
"Zifan Shi",
"Na Fan",
"Dit-Yan Yeung",
"Qifeng Chen",
"Zifan Shi",
"Na Fan",
"Dit-Yan Yeung",
"Qifeng Chen"
] | Existing vision systems for autonomous driving or robots are sensitive to waterdrops adhered to windows or camera lenses. Most recent waterdrop removal approaches take a single image as input and often fail to recover the missing content behind waterdrops faithfully. Thus, we propose a learning-based model for waterdrop removal with stereo images. To better detect and remove waterdrops from stereo... |
Temporally-Continuous Probabilistic Prediction using Polynomial Trajectory Parameterization | https://ieeexplore.ieee.org/document/9636751/ | [
"Zhaoen Su",
"Chao Wang",
"Henggang Cui",
"Nemanja Djuric",
"Carlos Vallespi-Gonzalez",
"David Bradley",
"Zhaoen Su",
"Chao Wang",
"Henggang Cui",
"Nemanja Djuric",
"Carlos Vallespi-Gonzalez",
"David Bradley"
] | A commonly-used representation for motion prediction of actors is a sequence of waypoints (comprising positions and orientations) for each actor at discrete future time-points. While regressing waypoints is simple and flexible, it can exhibit unrealistic higher-order derivatives (such as acceleration) and approximation errors at intermediate time steps. To address this issue we propose a general r... |
Content Disentanglement for Semantically Consistent Synthetic-to-Real Domain Adaptation | https://ieeexplore.ieee.org/document/9635948/ | [
"Mert Keser",
"Artem Savkin",
"Federico Tombari",
"Mert Keser",
"Artem Savkin",
"Federico Tombari"
] | Synthetic data generation is an appealing approach to generate novel traffic scenarios in autonomous driving. However, deep learning perception algorithms trained solely on synthetic data encounter serious performance drops when they are tested on real data. Such performance drops are commonly attributed to the domain gap between real and synthetic data. Domain adaptation methods that have been ap... |
Cross-Modal 3D Object Detection and Tracking for Auto-Driving | https://ieeexplore.ieee.org/document/9636498/ | [
"Yihan Zeng",
"Chao Ma",
"Ming Zhu",
"Zhiming Fan",
"Xiaokang Yang",
"Yihan Zeng",
"Chao Ma",
"Ming Zhu",
"Zhiming Fan",
"Xiaokang Yang"
] | Detecting and tracking objects in 3D scenes play crucial roles in autonomous driving. Successfully recognizing objects through space and time hinges on a strong detector and a reliable association scheme. Recent 3D detection and tracking approaches widely represent objects as points when associating detection results with trajectories. Despite the demonstrated success, these approaches do not full... |
Learning to Play Pursuit-Evasion with Visibility Constraints | https://ieeexplore.ieee.org/document/9635959/ | [
"Selim Engin",
"Qingyuan Jiang",
"Volkan Isler",
"Selim Engin",
"Qingyuan Jiang",
"Volkan Isler"
] | We study the problem of pursuit-evasion for a single pursuer and an evader in polygonal environments where the players have visibility constraints. The pursuer is tasked with catching the evader as quickly as possible while the evader tries to avoid being captured. We formalize this problem as a zero-sum game where the players have private observations and conflicting objectives.One of the challen... |
Object Picking Using a Two-Fingered Gripper Measuring the Deformation and Slip Detection Based on a 3-Axis Tactile Sensing | https://ieeexplore.ieee.org/document/9636354/ | [
"Satoshi Funabashi",
"Yuta Kage",
"Hiroyuki Oka",
"Yoshihiro Sakamoto",
"Shigeki Sugano",
"Satoshi Funabashi",
"Yuta Kage",
"Hiroyuki Oka",
"Yoshihiro Sakamoto",
"Shigeki Sugano"
] | Object picking with two-fingered grippers is widely used in practice. However, the deformability and slipperiness of the target object still remain a challenge, and not resolving them might lead to breaking or dropping of the grasped objects. To prevent such instances, tactile sensing plays an important role because it can directly detect even the subtle changes that occur during grasping. Mechano... |
Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control | https://ieeexplore.ieee.org/document/9636786/ | [
"Ivan D. Jimenez Rodriguez",
"Ugo Rosolia",
"Aaron D. Ames",
"Yisong Yue",
"Ivan D. Jimenez Rodriguez",
"Ugo Rosolia",
"Aaron D. Ames",
"Yisong Yue"
] | We present a straightforward and efficient way to control unstable robotic systems using an estimated dynamics model. Specifically, we show how to exploit the differentiability of Gaussian Processes to create a state-dependent linearized approximation of the true continuous dynamics that can be integrated with model predictive control. Our approach is compatible with most Gaussian process approach... |
OHPL: One-shot Hand-eye Policy Learner | https://ieeexplore.ieee.org/document/9636835/ | [
"Changjae Oh",
"Yik Lung Pang",
"Andrea Cavallaro",
"Changjae Oh",
"Yik Lung Pang",
"Andrea Cavallaro"
] | The control of a robot for manipulation tasks generally relies on object detection and pose estimation. An attractive alternative is to learn control policies directly from raw input data. However, this approach is time-consuming and expensive since learning the policy requires many trials with robot actions in the physical environment. To reduce the training cost, the policy can be learned in sim... |
SoMo: Fast and Accurate Simulations of Continuum Robots in Complex Environments | https://ieeexplore.ieee.org/document/9636059/ | [
"Moritz A. Graule",
"Clark B. Teeple",
"Thomas P. McCarthy",
"Grace R. Kim",
"Randall C. St. Louis",
"Robert J. Wood",
"Moritz A. Graule",
"Clark B. Teeple",
"Thomas P. McCarthy",
"Grace R. Kim",
"Randall C. St. Louis",
"Robert J. Wood"
] | Engineers and scientists often rely on their intuition and experience when designing soft robotic systems. The development of performant controllers and motion plans for these systems commonly requires time-consuming iterations on hardware. We present the SoMo (Soft Motion) toolkit, a software framework that makes it easy to instantiate and control typical continuum manipulators in an accurate phy... |
Toward State-Unsaturation Guaranteed Fault Detection Method in Visual Servoing of Soft Robot Manipulators | https://ieeexplore.ieee.org/document/9636138/ | [
"Haoyuan Gu",
"Hesheng Wang",
"Weidong Chen",
"Haoyuan Gu",
"Hesheng Wang",
"Weidong Chen"
] | This paper puts forward a novel sensor-less fault detection method with only task errors feedback and applies it to visual servoing tasks of soft robot manipulators. The method is developed by introducing a suitably designed endogenous accessory signal (EAS). On the one hand, EAS transforms the change of jacobian matrix led by faults into the change of task errors, which enables the fault to be di... |
Fuzzy-Depth Objects Grasping Based on FSG Algorithm and a Soft Robotic Hand | https://ieeexplore.ieee.org/document/9636173/ | [
"Hanwen Cao",
"Junda Huang",
"Yichuan Li",
"Jianshu Zhou",
"Yunhui Liu",
"Hanwen Cao",
"Junda Huang",
"Yichuan Li",
"Jianshu Zhou",
"Yunhui Liu"
] | Autonomous grasping is an important factor for robots physically interacting with the environment and executing versatile tasks. However, a universally applicable, cost-effective, and rapidly deployable autonomous grasping approach is still limited by those target objects with fuzzy-depth information. Examples are transparent, specular, flat, and small objects whose depth is difficult to be accura... |
Deformable Elasto-Plastic Object Shaping using an Elastic Hand and Model-Based Reinforcement Learning | https://ieeexplore.ieee.org/document/9636808/ | [
"Carolyn Matl",
"Ruzena Bajcsy",
"Carolyn Matl",
"Ruzena Bajcsy"
] | Deformable solid objects such as clay or dough are prevalent in industrial and home environments. However, robotic manipulation of such objects has largely remained unexplored in literature due to the high complexity involved in representing and modeling their deformation. This work addresses the problem of shaping elasto-plastic dough by proposing to use a novel elastic end-effector to roll dough... |
Temporal Force Synergies in Human Grasping | https://ieeexplore.ieee.org/document/9636223/ | [
"Julia Starke",
"Marco Keller",
"Amim Asfour",
"Julia Starke",
"Marco Keller",
"Amim Asfour"
] | Humans can intuitively grasp objects of different shape and weight. Throughout the grasp execution they control and coordinate the grasp forces at all contact points between the hand and the object to achieve a stable grasp. Dexterous grasping with humanoid hands relies on the perfect coordination between grasp posture and force balance at the contact points in a high dimensional space and remains... |
Trajectory-based Split Hindsight Reverse Curriculum Learning | https://ieeexplore.ieee.org/document/9636842/ | [
"Jiaxi Wu",
"Dianmin Zhang",
"Shanlin Zhong",
"Hong Qiao",
"Jiaxi Wu",
"Dianmin Zhang",
"Shanlin Zhong",
"Hong Qiao"
] | Grasping is one of the most fundamental problems in robotic manipulation. In recent years, with the development of data-driven methods, reinforcement learning has been used in solving robotic grasping problems. However, grasping is a long-horizon and sparse reward task, whose natural reward only appears when the task is successfully achieved. Therefore, it brings great challenges to the deployment... |
Detecting Grasp Phases and Adaption of Object-Hand Interaction Forces of a Soft Humanoid Hand Based on Tactile Feedback | https://ieeexplore.ieee.org/document/9636484/ | [
"Pascal Weiner",
"Felix Hundhausen",
"Raphael Grimm",
"Tamim Asfour",
"Pascal Weiner",
"Felix Hundhausen",
"Raphael Grimm",
"Tamim Asfour"
] | Engineering humanoid robot hands with the ability to dexterously grasp objects of different sizes, shapes, mate-rial properties and weights requires sophisticated tactile sensing and intelligent controllers able to interpret sensory information and adapt contact forces with the object to achieve a stable and safe grasp. In this paper, we present a new soft humanoid hand equipped with a multimodal ... |
SpectGRASP: Robotic Grasping by Spectral Correlation | https://ieeexplore.ieee.org/document/9636235/ | [
"Maxime Adjigble",
"Cristiana de Farias",
"Rustam Stolkin",
"Naresh Marturi",
"Maxime Adjigble",
"Cristiana de Farias",
"Rustam Stolkin",
"Naresh Marturi"
] | This paper presents a spectral correlation-based method (SpectGRASP) for robotic grasping of arbitrarily shaped, unknown objects. Given a point cloud of an object, SpectGRASP extracts contact points on the object’s surface matching the hand configuration. It neither requires offline training nor a-priori object models. We propose a novel Binary Extended Gaussian Image (BEGI), which represents the ... |
Assessing Grasp Quality using Local Sensitivity Analysis | https://ieeexplore.ieee.org/document/9636021/ | [
"Michael Zechmair",
"Yannick Morel",
"Michael Zechmair",
"Yannick Morel"
] | We propose a new approach to investigate and quantify dynamic grasp performance. Oftentimes, existing approaches to grasp analysis assess a grasp’s quality in a static situation. We build upon such considerations to also account for the dynamic nature of most grasp operations. In particular, these typically do not, in practice, occur in a static setting. Robotic grasping is indeed commonly involve... |
Geometry-Based Grasping Pipeline for Bi-Modal Pick and Place | https://ieeexplore.ieee.org/document/9635981/ | [
"Robert Haschke",
"Guillaume Walck",
"Helge Ritter",
"Robert Haschke",
"Guillaume Walck",
"Helge Ritter"
] | We propose an autonomous grasping pipeline that relies on geometric information extracted from segmented point cloud data. This is in contrast to many recent approaches leveraging deep learning and thus relying on a rather large amount of training samples. We argue that the proposed geometric approach facilitates task-level planning as the shape, size, and symmetry of objects can be directly taken... |
Computing a Task-Dependent Grasp Metric Using Second-Order Cone Programs | https://ieeexplore.ieee.org/document/9636197/ | [
"Amin Fakhari",
"Aditya Patankar",
"Jiayin Xie",
"Nilanjan Chakraborty",
"Amin Fakhari",
"Aditya Patankar",
"Jiayin Xie",
"Nilanjan Chakraborty"
] | Evaluating a grasp generated by a set of hand-object contact locations is a key component of many grasp planning algorithms. In this paper, we present a novel second-order cone program (SOCP) based optimization formulation for evaluating a grasps’ ability to apply wrenches to generate a linear motion along a given direction and/or an angular motion about the given direction. Our quality measure ca... |
Autonomous Bi-Manual Surgical Suturing Based on Skills Learned from Demonstration | https://ieeexplore.ieee.org/document/9636432/ | [
"Kim L. Schwaner",
"Iñigo Iturrate",
"Jakob K. H. Andersen",
"Pernille T. Jensen",
"Thiusius R. Savarimuthu",
"Kim L. Schwaner",
"Iñigo Iturrate",
"Jakob K. H. Andersen",
"Pernille T. Jensen",
"Thiusius R. Savarimuthu"
] | We present a novel application of Learning from Demonstration to realize a fully autonomous bi-manual surgical suturing task, including needle pick up, insertion, re-grasping, extraction and hand-over. Surgical action primitives are learned from a single human demonstration and encoded into an action library from which they are pulled to compose more elaborate tasks at planning/execution time. The... |
Safe Reinforcement Learning using Formal Verification for Tissue Retraction in Autonomous Robotic-Assisted Surgery | https://ieeexplore.ieee.org/document/9636175/ | [
"Ameya Pore",
"Davide Corsi",
"Enrico Marchesini",
"Diego Dall’Alba",
"Alicia Casals",
"Alessandro Farinelli",
"Paolo Fiorini",
"Ameya Pore",
"Davide Corsi",
"Enrico Marchesini",
"Diego Dall’Alba",
"Alicia Casals",
"Alessandro Farinelli",
"Paolo Fiorini"
] | Deep Reinforcement Learning (DRL) is a viable solution for automating repetitive surgical subtasks due to its ability to learn complex behaviours in a dynamic environment. This task automation could lead to reduced surgeon’s cognitive workload, increased precision in critical aspects of the surgery, and fewer patient-related complications. However, current DRL methods do not guarantee any safety c... |
Fall detection for robotic endoscope holders in Minimally Invasive Surgery | https://ieeexplore.ieee.org/document/9636678/ | [
"Jesus Mago",
"François Louveau",
"Marie-Aude Vitrani",
"Jesus Mago",
"François Louveau",
"Marie-Aude Vitrani"
] | Classic Minimally Invasive Surgery (MIS) is an ergonomic burden for assistants and surgeons. The former need to adopt uncomfortable positions for hours while holding a camera to track the latter’s gestures inside the patient. This incurs assistant’s muscle fatigue which can lead to tremor or drift of the video feedback. A backdrivable robotic holder can be attached to this device in order to compe... |
Pre-operative Offline Optimization of Insertion Point Location for Safe and Accurate Surgical Task Execution | https://ieeexplore.ieee.org/document/9636285/ | [
"Francesco Cursi",
"Petar Kormushev",
"Francesco Cursi",
"Petar Kormushev"
] | In robotically assisted surgical procedures the surgical tool is usually inserted in the patient’s body through a small incision, which acts as a constraint for the motion of the robot, known as remote center of Motion (RCM). The location of the insertion point on the patient’s body has huge effects on the performances of the surgical robot. In this work we present an offline pre-operative framewo... |
Dynamical effect of elastically supported wobbling mass on biped running | https://ieeexplore.ieee.org/document/9636036/ | [
"Tomoya Kamimura",
"Koudai Sato",
"Daiki Murayama",
"Nanako Kawase",
"Akihito Sano",
"Tomoya Kamimura",
"Koudai Sato",
"Daiki Murayama",
"Nanako Kawase",
"Akihito Sano"
] | Our research team has been developing biped robots based on the nature of passive dynamics. We aim to both investigate the effect of wobbling mass and apply the findings to biped robots to achieve high-performance running. We used an elastically supported wobbling mass in the trunk of biped robots because humans utilize their elastic organs in the upper body and arms to improve running performance... |
Communicative Learning with Natural Gestures for Embodied Navigation Agents with Human-in-the-Scene | https://ieeexplore.ieee.org/document/9636208/ | [
"Qi Wu",
"Cheng-Ju Wu",
"Yixin Zhu",
"Jungseock Joo",
"Qi Wu",
"Cheng-Ju Wu",
"Yixin Zhu",
"Jungseock Joo"
] | Human-robot collaboration is an essential re-search topic in artificial intelligence (AI), enabling researchers to devise cognitive AI systems and affords an intuitive means for users to interact with the robot. Of note, communication plays a central role. To date, prior studies in embodied agent navigation have only demonstrated that human languages facilitate communication by instructions in nat... |
The ARoA Platform: An Autonomous Robotic Assistant with a Reconfigurable Torso System and Dexterous Manipulation Capabilities | https://ieeexplore.ieee.org/document/9636604/ | [
"Gal Gorjup",
"Che-Ming Chang",
"Geng Gao",
"Lucas Gerez",
"Anany Dwivedi",
"Ruobing Yu",
"Patrick Jarvis",
"Minas Liarokapis",
"Gal Gorjup",
"Che-Ming Chang",
"Geng Gao",
"Lucas Gerez",
"Anany Dwivedi",
"Ruobing Yu",
"Patrick Jarvis",
"Minas Liarokapis"
] | The ongoing global healthcare crisis has amplified the need for automation of manual tasks in several industries and service sectors. Simple household tasks such as tidying and cleaning are in high demand, with only a few robotic platforms capable of performing them due to the mobility, workspace, and dexterity requirements. This work presents ARoA, an autonomous robotic assistant that can execute... |
Dynamic Humanoid Locomotion Over Rough Terrain With Streamlined Perception-Control Pipeline | https://ieeexplore.ieee.org/document/9636218/ | [
"Moonyoung Lee",
"Youngsun Kwon",
"Sebin Lee",
"JongHun Choe",
"Junyong Park",
"Hyobin Jeong",
"Yujin Heo",
"Min-Su Kim",
"Jo Sungho",
"Sung-Eui Yoon",
"Jun-Ho Oh",
"Moonyoung Lee",
"Youngsun Kwon",
"Sebin Lee",
"JongHun Choe",
"Junyong Park",
"Hyobin Jeong",
"Yujin Heo",
"Min-Su Kim",
"Jo Sungho",
"Sung-Eui Yoon",
"Jun-Ho Oh"
] | Vision aided dynamic exploration on bipedal robots poses an integrated challenge for perception and control. Rapid walking motions as well as the vibrations caused by the landing-foot contact-force introduce critical uncertainty in the visual-inertial system, which can cause the robot to misplace its feet placing on complex terrains and even fall over. In this paper, we present a streamlined integ... |
Drop Prevention Control for Humanoid Robots Carrying Stacked Boxes | https://ieeexplore.ieee.org/document/9635892/ | [
"Shimpei Sato",
"Yuta Kojio",
"Kunio Kojima",
"Fumihito Sugai",
"Yohei Kakiuchi",
"Kei Okada",
"Masayuki Inaba",
"Shimpei Sato",
"Yuta Kojio",
"Kunio Kojima",
"Fumihito Sugai",
"Yohei Kakiuchi",
"Kei Okada",
"Masayuki Inaba"
] | We developed a method to enable a humanoid robot to carry stacked boxes. In order to transport objects efficiently, it is necessary to carry multiple objects at the same time, but in previous studies, humanoid robots have only been able to carry a single object. When a humanoid robot carries stacked boxes, the robot drops boxes when the positional relationship between un-grasped boxes changes. The... |
Design of an SSVEP-based BCI Stimuli System for Attention-based Robot Navigation in Robotic Telepresence | https://ieeexplore.ieee.org/document/9636720/ | [
"Xingchao Wang",
"Xiaopeng Huang",
"Yi Lin",
"Liguang Zhou",
"Zhenglong Sun",
"Yangsheng Xu",
"Xingchao Wang",
"Xiaopeng Huang",
"Yi Lin",
"Liguang Zhou",
"Zhenglong Sun",
"Yangsheng Xu"
] | Brain-computer interface (BCI)-based robotic telepresence provides an opportunity for people with disabilities to control robots remotely without any actual physical movement. However, traditional BCI systems usually require the user to select the navigation direction from visual stimuli in a fixed background, which makes it difficult to control the robot in a dynamic environment during the locomo... |
An Assistive Shared Control Architecture for a Robotic Arm Using EEG-Based BCI with Motor Imagery | https://ieeexplore.ieee.org/document/9636261/ | [
"Giuseppe Gillini",
"Paolo Di Lillo",
"Filippo Arrichiello",
"Giuseppe Gillini",
"Paolo Di Lillo",
"Filippo Arrichiello"
] | The paper presents a shared control architecture for robotic systems commanded through a motor imagery based Brain-Computer Interface (BCI). The overall system is aimed at assisting people to perform teleoperated manipulation tasks, and it is structured so as to leave different levels of autonomy to the user depending on the actual stage of the task execution. The low-level part of the shared cont... |
A Wearable, Open-Source, Lightweight Forcemyography Armband: On Intuitive, Robust Muscle-Machine Interfaces | https://ieeexplore.ieee.org/document/9636345/ | [
"Jayden Chapman",
"Anany Dwivedi",
"Minas Liarokapis",
"Jayden Chapman",
"Anany Dwivedi",
"Minas Liarokapis"
] | With an increasing number of robotic and prosthetic devices, there is a need for intuitive interfaces which enable the user to efficiently interact with them. The conventional interfaces are generally bulky and unsuitable for dynamic and unstructured environments. An alternative to the traditional interfaces is the class of Muscle-Machine Interfaces (MuMIs) that allow the user to have an embodied ... |
Manifold Trial Selection to Reduce Negative Transfer in Motor Imagery-based Brain–Computer Interface | https://ieeexplore.ieee.org/document/9636137/ | [
"Zilin Liang",
"Zheng Zheng",
"Weihai Chen",
"Jianhua Wang",
"Jianbin Zhang",
"Jianer Chen",
"Zuobing Chen",
"Zilin Liang",
"Zheng Zheng",
"Weihai Chen",
"Jianhua Wang",
"Jianbin Zhang",
"Jianer Chen",
"Zuobing Chen"
] | A major challenge in electroencephalogram (EEG) signal classification is that the EEG signals recorded from different subjects are drawn from different distributions. When the unlabeled EEG data of the new subject arrive, called target domain, classifying them with a classifier trained on prerecorded EEG data of other subjects, called source domain, will greatly decrease the classification accurac... |
Neurointerface implemented with Oscillator Motifs | https://ieeexplore.ieee.org/document/9636089/ | [
"Max Talanov",
"Alina Suleimanova",
"Alexey Leukhin",
"Yulia Mikhailova",
"Alexander Toschev",
"Alena Militskova",
"Igor Lavrov",
"Evgeni Magid",
"Max Talanov",
"Alina Suleimanova",
"Alexey Leukhin",
"Yulia Mikhailova",
"Alexander Toschev",
"Alena Militskova",
"Igor Lavrov",
"Evgeni Magid"
] | In this work, we present a definition of a neurointerface architecture combined from two main parts (1) neuroport (a hardware device) that implements a neuro protocol, generated and managed by a (2) neuroterminal (a software). The proposed architecture was created by analogy with OSI network architecture. We also present the neuroterminal as an oscillator motif real-time neurosimulation and result... |
Hybrid Graph Convolutional Networks for Skeleton-Based and EEG-Based Jumping Action Recognition | https://ieeexplore.ieee.org/document/9636110/ | [
"Naishi Feng",
"Fo Hu",
"Hong Wang",
"Ziqi Zhao",
"Naishi Feng",
"Fo Hu",
"Hong Wang",
"Ziqi Zhao"
] | Kinematic information obtained directly from the skeletal model has been useful for jumping action recognition. Current research focuses on dynamic analysis based on the video stream. Although skeletal data can accurately capture the high-level information of human action, it ignores the brain’s pre-execution command information, which plays a crucial role in identifying jumping action. Therefore,... |
Affect-driven Robot Behavior Learning System using EEG Signals for Less Negative Feelings and More Positive Outcomes | https://ieeexplore.ieee.org/document/9636451/ | [
"Byung Hyung Kim",
"Ji Ho Kwak",
"Minuk Kim",
"Sungho Jo",
"Byung Hyung Kim",
"Ji Ho Kwak",
"Minuk Kim",
"Sungho Jo"
] | Learning from human feedback using event-related electroencephalography (EEG) signals has attracted extensive attention recently owing to their intuitive communication ability by decoding user intentions. However, this approach requires users to perform specified tasks and their success or failure. In addition, the amount of attention needed for decision-making increases with the task difficulty, ... |
Design, Integration and Implementation of an Intelligent and Self-recharging Drone System for Autonomous Power line Inspection | https://ieeexplore.ieee.org/document/9635924/ | [
"Nicolai Iversen",
"Oscar Bowen Schofield",
"Linda Cousin",
"Naeem Ayoub",
"Gerd vom Bögel",
"Emad Ebeid",
"Nicolai Iversen",
"Oscar Bowen Schofield",
"Linda Cousin",
"Naeem Ayoub",
"Gerd vom Bögel",
"Emad Ebeid"
] | Today, many inspection domains utilize the benefits of drones to monitor and inspect infrastructure in an efficient manner. The energy grid is challenged by frequent and thorough inspection to stay operational. So far, drones have already been introduced to solve this challenge. However, the inspection drone still requires manual control and subsequent human examination of the captured photos and ... |
GateNet: An Efficient Deep Neural Network Architecture for Gate Perception Using Fish-Eye Camera in Autonomous Drone Racing | https://ieeexplore.ieee.org/document/9636207/ | [
"Huy Xuan Pham",
"Ilker Bozcan",
"Andriy Sarabakha",
"Sami Haddadin",
"Erdal Kayacan",
"Huy Xuan Pham",
"Ilker Bozcan",
"Andriy Sarabakha",
"Sami Haddadin",
"Erdal Kayacan"
] | Fast and robust gate perception is of great importance in autonomous drone racing. We propose a convolutional neural network-based gate detector (GateNet1) that concurrently detects gate’s center, distance, and orientation with respect to the drone using only images from a single fish-eye RGB camera. GateNet achieves a high inference rate (up to 60 Hz) on an onboard processor (Jetson TX2). Moreove... |
CCRobot-IV-F: A Ducted-Fan-Driven Flying-Type Bridge-Stay-Cable Climbing Robot | https://ieeexplore.ieee.org/document/9636022/ | [
"Wenchao Zhang",
"Zhenliang Zheng",
"Xueqi Fu",
"Sarsenbek Hazken",
"Huaping Chen",
"Min Zhao",
"Ning Ding",
"Wenchao Zhang",
"Zhenliang Zheng",
"Xueqi Fu",
"Sarsenbek Hazken",
"Huaping Chen",
"Min Zhao",
"Ning Ding"
] | A Flying-type cable climbing robot, CCRobot-IV-F, is presented in this paper. It is a climbing precursor of the fourth version of CCRobot, designed to surpass the abilities of previous robots with high climbing speed and obstacle-crossing capability. CCRobot-IV-F weighs less than 10 kg and a no-load speed of up to 4.5 m/s, which significantly exceeds that of other climbing robots. A dynamic model ... |
REAL: Rapid Exploration with Active Loop-Closing toward Large-Scale 3D Mapping using UAVs | https://ieeexplore.ieee.org/document/9636611/ | [
"Eungchang Mason Lee",
"Junho Choi",
"Hyungtae Lim",
"Hyun Myung",
"Eungchang Mason Lee",
"Junho Choi",
"Hyungtae Lim",
"Hyun Myung"
] | Exploring an unknown environment without colliding with obstacles is one of the essentials of autonomous vehicles to perform diverse missions such as structural inspections, rescues, deliveries, and so forth. Therefore, unmanned aerial vehicles (UAVS), which are fast, agile, and have high degrees of freedom, have been widely used. However, previous approaches have two limitations: a) First, they m... |
Stability and Robustness Analysis of Plug-Pulling using an Aerial Manipulator | https://ieeexplore.ieee.org/document/9636356/ | [
"Jeonghyun Byun",
"Dongjae Lee",
"Hoseong Seo",
"Inkyu Jang",
"Jeongjun Choi",
"H. Jin Kim",
"Jeonghyun Byun",
"Dongjae Lee",
"Hoseong Seo",
"Inkyu Jang",
"Jeongjun Choi",
"H. Jin Kim"
] | In this paper, an autonomous aerial manipulation task of pulling a plug out of an electric socket is conducted, where maintaining the stability and robustness is challenging due to sudden disappearance of a large interaction force. The abrupt change in the dynamical model before and after the separation of the plug can cause destabilization or mission failure. To accomplish aerial plug-pulling, we... |
A Motion decoupled Aerial Robotic Manipulator for Better Inspection | https://ieeexplore.ieee.org/document/9636765/ | [
"Rui Peng",
"Xianda Chen",
"Peng Lu",
"Rui Peng",
"Xianda Chen",
"Peng Lu"
] | For conventional aerial manipulators, the robotic arm is rigidly attached to the quadrotor. Consequently, the maneuver of the quadrotor will affect the motion of the robotic arm when it is used for tasks such as inspection. In this paper, we propose a novel aerial manipulator with a self-locking gimbal system which can switch between motion coupled and decoupled mode. Furthermore, a dynamic gravit... |
Dynamic Grasping with a "Soft" Drone: From Theory to Practice | https://ieeexplore.ieee.org/document/9635927/ | [
"Joshua Fishman",
"Samuel Ubellacker",
"Nathan Hughes",
"Luca Carlone",
"Joshua Fishman",
"Samuel Ubellacker",
"Nathan Hughes",
"Luca Carlone"
] | Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic grasping", where the drone attempts to grasp an object while moving. On the other hand, biological systems (e.g., birds) rely on compliant and soft parts to dampen c... |
Cursor-based Robot Tele-manipulation through 2D-to-SE2 Interfaces | https://ieeexplore.ieee.org/document/9636008/ | [
"Maria E. Cabrera",
"Kavi Dey",
"Kavita Krishnaswamy",
"Tapomayukh Bhattacharjee",
"Maya Cakmak",
"Maria E. Cabrera",
"Kavi Dey",
"Kavita Krishnaswamy",
"Tapomayukh Bhattacharjee",
"Maya Cakmak"
] | Cursor-based tele-operation interfaces for manipulators can enable widely available and accessible control of robots to make many near term applications possible. However, their efficiency is restricted by the challenge of controlling 6 Degrees-of-Freedom (DoF) with 2D input from the cursor. Existing interfaces make use of different strategies to tackle this challenge, including viewpoint constrai... |
Mobile Teleoperation: Feasibility of Wireless Wearable Sensing of the Operator’s Arm Motion | https://ieeexplore.ieee.org/document/9636838/ | [
"Guanhao Fu",
"Ehsan Azimi",
"Peter Kazanzides",
"Guanhao Fu",
"Ehsan Azimi",
"Peter Kazanzides"
] | Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery solutions that require the surgeons to be away from the patient, attached to consoles where their heads must be fixed and their arms can only move in a limited sp... |
Drawing Elon Musk: A Robot Avatar for Remote Manipulation | https://ieeexplore.ieee.org/document/9635879/ | [
"Lingyun Chen",
"Abdalla Swikir",
"Sami Haddadin",
"Lingyun Chen",
"Abdalla Swikir",
"Sami Haddadin"
] | The fast growth of communication technologies such as 5G provides high bandwidth and low latency wireless internet access. This enables both high definition video stream and real-time robot commands transmitted between robots and operators in the context of telepresence and teleoperation. Although there has been substantial research to establish algorithms that convert images to robot motions and ... |
Analysis of User Preferences for Robot Motions in Immersive Telepresence | https://ieeexplore.ieee.org/document/9636852/ | [
"Katherine J. Mimnaugh",
"Markku Suomalainen",
"Israel Becerra",
"Eliezer Lozano",
"Rafael Murrieta-Cid",
"Steven M. LaValle",
"Katherine J. Mimnaugh",
"Markku Suomalainen",
"Israel Becerra",
"Eliezer Lozano",
"Rafael Murrieta-Cid",
"Steven M. LaValle"
] | This paper considers how the motions of a telepresence robot moving autonomously affect a person immersed in the robot through a head-mounted display. In particular, we explore the preference, comfort, and naturalness of elements of piecewise linear paths compared to the same elements on a smooth path. In a user study, thirty-six subjects watched panoramic videos of three different paths through a... |
A Reconfigurable Interface for Ergonomic and Dynamic Tele-Locomanipulation | https://ieeexplore.ieee.org/document/9636775/ | [
"Soheil Gholami",
"Francesco Tassi",
"Elena De Momi",
"Arash Ajoudani",
"Soheil Gholami",
"Francesco Tassi",
"Elena De Momi",
"Arash Ajoudani"
] | Prolonged remote tele-locomanipulation of multi degrees-of-freedom mobile manipulators requires a compromise between the system’s performance and the operator’s ergonomics. Neglecting this demand can significantly affect either the task completion or the level of comfort to achieve it. However, the simultaneous consideration of these key factors has received less attention in the literature. To re... |
Safety-oriented Teleoperation Framework for Contact-rich Tasks in Hazardous Workspaces | https://ieeexplore.ieee.org/document/9636093/ | [
"Donghyeon Lee",
"Wan Kyun Chung",
"Keehoon Kim",
"Donghyeon Lee",
"Wan Kyun Chung",
"Keehoon Kim"
] | This paper proposes an admittance controller-based teleoperation system for contact-rich tasks. Based on the analysis of the motivating task (deposited iron lump removal task in the steel mill), the system concept is focused on the practical aspects of the system, and various components are combined to enhance the safety of the teleoperation of the robot. To connect the large inertia difference be... |
Identifying Performance Regression Conditions for Testing & Evaluation of Autonomous Systems | https://ieeexplore.ieee.org/document/9636004/ | [
"Paul Stankiewicz",
"Marin Kobilarov",
"Paul Stankiewicz",
"Marin Kobilarov"
] | This paper addresses the problem of identifying whether/how a black-box autonomous system has regressed in performance when compared to previous versions. The approach analyzes performance datasets (typically gathered through simulation-based testing) and automatically extracts test parameter clusters of predicted performance regression. First, surrogate modeling with quantile random forests is us... |
JCopter: Reliable UAV Software Through Managed Languages | https://ieeexplore.ieee.org/document/9636617/ | [
"Adam Czerniejewski",
"John Henry Burns",
"Farshad Ghanei",
"Karthik Dantu",
"Yu David Liu",
"Lukasz Ziarek",
"Adam Czerniejewski",
"John Henry Burns",
"Farshad Ghanei",
"Karthik Dantu",
"Yu David Liu",
"Lukasz Ziarek"
] | UAVs are deployed in various applications including disaster search-and-rescue, precision agriculture, law enforcement and first response. As UAV software systems grow more complex, the drawbacks of developing them in low-level languages become more pronounced. For example, the lack of memory safety in C implies poor isolation between the UAV autopilot and other concurrent tasks. As a result, the ... |
Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking | https://ieeexplore.ieee.org/document/9636329/ | [
"Robin Jeanne Kirschner",
"Alexander Kurdas",
"Kübra Karacan",
"Philipp Junge",
"Seyed Ali Baradaran Birjandi",
"Nico Mansfeld",
"Saeed Abdolshah",
"Sami Haddadin",
"Robin Jeanne Kirschner",
"Alexander Kurdas",
"Kübra Karacan",
"Philipp Junge",
"Seyed Ali Baradaran Birjandi",
"Nico Mansfeld",
"Saeed Abdolshah",
"Sami Haddadin"
] | Improving robot systems via newly-developed sensing devices, control algorithms, or state estimators in order to obtain safe and efficient human-robot interaction as well as tactile manipulation skills requires standardized performance measurement protocols for objective comparison. Common protocols to evaluate robot motion performance are currently defined in EN ISO 9283:1998. For tactile and saf... |
On Assessing the Usefulness of Proxy Domains for Developing and Evaluating Embodied Agents | https://ieeexplore.ieee.org/document/9635977/ | [
"Anthony Courchesne",
"Andrea Censi",
"Liam Paull",
"Anthony Courchesne",
"Andrea Censi",
"Liam Paull"
] | In many situations it is either impossible or impractical to develop and evaluate agents entirely on the target domain on which they will be deployed. This is particularly true in robotics, where doing experiments on hardware is much more arduous than in simulation. This has become arguably more so in the case of learning-based agents. To this end, considerable recent effort has been devoted to de... |
Towards Efficient Learning-Based Model Predictive Control via Feedback Linearization and Gaussian Process Regression | https://ieeexplore.ieee.org/document/9636755/ | [
"Jack Caldwell",
"Joshua A. Marshall",
"Jack Caldwell",
"Joshua A. Marshall"
] | This paper presents a learning-based Model Predictive Control (MPC) methodology incorporating nonlinear predictions with robotics applications in mind. In particular, MPC is combined with feedback linearization for computational efficiency and Gaussian Process Regression (GPR) is used to model unknown system dynamics and nonlinearities. In this method, MPC predicts future states by leveraging a GP... |
HOPPY: An Open-source Kit for Education with Dynamic Legged Robots | https://ieeexplore.ieee.org/document/9636108/ | [
"Joao Ramos",
"Yanran Ding",
"Young-Woo Sim",
"Kevin Murphy",
"Daniel Block",
"Joao Ramos",
"Yanran Ding",
"Young-Woo Sim",
"Kevin Murphy",
"Daniel Block"
] | This paper introduces HOPPY, an open-source, low-cost, robust, and modular kit for robotics education. The robot dynamically hops around a rotating gantry with a fixed base. The kit is intended to lower the entry barrier for studying dynamic robots and legged locomotion with real systems. It bridges the theoretical content of fundamental robotic courses with real dynamic robots by facilitating and... |
An Open-Source, Fiducial-Based, Underwater Stereo Visual-Inertial Localization Method with Refraction Correction | https://ieeexplore.ieee.org/document/9636198/ | [
"Pengfei Zhang",
"Zhengxing Wu",
"Jian Wang",
"Shihan Kong",
"Min Tan",
"Junzhi Yu",
"Pengfei Zhang",
"Zhengxing Wu",
"Jian Wang",
"Shihan Kong",
"Min Tan",
"Junzhi Yu"
] | Underwater visual localization is an essential technique for the autonomous operation of underwater robots. However, the unique underwater image characteristics, including refraction, sparse features, and severe noise, pose an enormous challenge to it. For addressing these issues, this paper proposes an open-source fiducial-based underwater stereo visual-inertial localization method under the exte... |
Cooperative ASV/AUV system exploiting active acoustic localization | https://ieeexplore.ieee.org/document/9636326/ | [
"Matteo Bresciani",
"Giovanni Peralta",
"Francesco Ruscio",
"Lorenzo Bazzarello",
"Andrea Caiti",
"Riccardo Costanzi",
"Matteo Bresciani",
"Giovanni Peralta",
"Francesco Ruscio",
"Lorenzo Bazzarello",
"Andrea Caiti",
"Riccardo Costanzi"
] | The lack of GPS signal in the underwater environment poses limitations in terms of localization and navigation of mobile robots. Strategies based on acoustic localization systems are employed to improve underwater navigation. In this paper we describe a first step towards the development of a marine system of systems involving autonomous mobile nodes. The approach relies on communication networkin... |
Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization | https://ieeexplore.ieee.org/document/9636703/ | [
"Anwar Quraishi",
"Alcherio Martinoli",
"Anwar Quraishi",
"Alcherio Martinoli"
] | Accurate localization is one of the biggest challenges in underwater robotics. The primary reasons behind that are unavailability of satellite-based positioning below the surface, and lack of clear features in natural water bodies for visually aided localization. As such, the common method of choice for external position referencing in underwater robots is the use of acoustic signals for computing... |
Shipborne sea-ice field mapping using a LiDAR | https://ieeexplore.ieee.org/document/9636275/ | [
"Andrei Sandru",
"Arto Visala",
"Pentti Kujala",
"Andrei Sandru",
"Arto Visala",
"Pentti Kujala"
] | The increasing interest for autonomous ships has motivated research in numerous areas. One such area is the safe navigation through ice infested waters, for which a sensor instrumentation and automated process are proposed for near-field, sea-ice 3D scanning and mapping using a ship mounted LiDAR, with attitude compensation from inertial and satellite positioning sensors. Data were collected both ... |
3D Ensemble-Based Online Oceanic Flow Field Estimation for Underwater Glider Path Planning | https://ieeexplore.ieee.org/document/9636692/ | [
"Felix H. Kong",
"K. Y. Cadmus To",
"Gary Brassington",
"Stuart Anstee",
"Robert Fitch",
"Felix H. Kong",
"K. Y. Cadmus To",
"Gary Brassington",
"Stuart Anstee",
"Robert Fitch"
] | Estimating ocean flow fields in 3D is a critical step in enabling the reliable operation of underwater gliders and other small, low-powered autonomous marine vehicles. Existing methods produce depth-averaged 2D layers arranged at discrete vertical intervals, but this type of estimation can lead to severe navigation errors. Based on the observation that real-world ocean currents exhibit relatively ... |
Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles | https://ieeexplore.ieee.org/document/9636659/ | [
"Anwar Quraishi",
"Alcherio Martinoli",
"Anwar Quraishi",
"Alcherio Martinoli"
] | One of the main challenges in underwater robot localization is the scarcity of external positioning references. Therefore, accurate inertial localization in between external position updates is crucial for applications such as underwater environmental sampling. In this paper, we present a framework for estimating kinematic and dynamic model parameters used for inertial navigation. Accurate values ... |
Visual Place Recognition using LiDAR Intensity Information | https://ieeexplore.ieee.org/document/9636649/ | [
"Luca Di Giammarino",
"Irvin Aloise",
"Cyrill Stachniss",
"Giorgio Grisetti",
"Luca Di Giammarino",
"Irvin Aloise",
"Cyrill Stachniss",
"Giorgio Grisetti"
] | Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM system, robots need to re-recognize places to find loop closure and reduce the odometry drift. Image-based place recognition received a lot of attention in computer ... |
F-LOAM : Fast LiDAR Odometry and Mapping | https://ieeexplore.ieee.org/document/9636655/ | [
"Han Wang",
"Chen Wang",
"Chun-Lin Chen",
"Lihua Xie",
"Han Wang",
"Chen Wang",
"Chun-Lin Chen",
"Lihua Xie"
] | Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization accuracy are of great importance towards a good SLAM system. Existing works on LiDAR based SLAM often formulate the problem as two modules: scan-to-scan match and scan-to-map refinement. Both modules are solved by iterati... |
LiDAR-Based Object-Level SLAM for Autonomous Vehicles | https://ieeexplore.ieee.org/document/9636299/ | [
"Bingyi Cao",
"Ricardo Carrillo Mendoza",
"Andreas Philipp",
"Daniel Göhring",
"Bingyi Cao",
"Ricardo Carrillo Mendoza",
"Andreas Philipp",
"Daniel Göhring"
] | Simultaneous localization and mapping (SLAM) is an essential technique for autonomous driving. Recently, combining image recognition technology to generate semantically meaningful maps has become a new trend in visual SLAM research. However, in the field of LiDAR SLAM, this potential has not been fully explored. We propose a novel object-level SLAM system using 3D LiDARs for autonomous vehicles. W... |
RF-LIO: Removal-First Tightly-coupled Lidar Inertial Odometry in High Dynamic Environments | https://ieeexplore.ieee.org/document/9636624/ | [] | Simultaneous Localization and Mapping (SLAM) is considered to be an essential capability for intelligent vehicles and mobile robots. However, most of the current lidar SLAM approaches are based on the assumption of a static environment. Hence the localization in a dynamic environment with multiple moving objects is actually unreliable. The paper proposes a dynamic SLAM framework RF-LIO, building o... |
What’s in My LiDAR Odometry Toolbox? | https://ieeexplore.ieee.org/document/9636348/ | [
"Pierre Dellenbach",
"Jean-Emmanuel Deschaud",
"Bastien Jacquet",
"François Goulette",
"Pierre Dellenbach",
"Jean-Emmanuel Deschaud",
"Bastien Jacquet",
"François Goulette"
] | With the democratization of 3D LiDAR sensors, precise LiDAR odometries and SLAM are in high demand. New methods regularly appear, proposing solutions ranging from small variations in classical algorithms to radically new paradigms based on deep learning. Yet it is often difficult to compare these methods, notably due to the few datasets on which the methods can be evaluated and compared. Furthermo... |
Active Perception for Ambiguous Objects Classification | https://ieeexplore.ieee.org/document/9636414/ | [
"Evgenii Safronov",
"Nicola Piga",
"Michele Colledanchise",
"Lorenzo Natale",
"Evgenii Safronov",
"Nicola Piga",
"Michele Colledanchise",
"Lorenzo Natale"
] | Recent visual pose estimation and tracking solutions provide notable results on popular datasets such as T-LESS and YCB. However, in the real world, we can find ambiguous objects that do not allow exact classification and detection from a single view. In this work, we propose a framework that, given a single view of an object, provides the coordinates of a next viewpoint to discriminate the object... |
Event-based Motion Segmentation by Cascaded Two-Level Multi-Model Fitting | https://ieeexplore.ieee.org/document/9636307/ | [
"Xiuyuan Lu",
"Yi Zhou",
"Shaojie Shen",
"Xiuyuan Lu",
"Yi Zhou",
"Shaojie Shen"
] | Among prerequisites for a synthetic agent to inter-act with dynamic scenes, the ability to identify independently moving objects is specifically important. From an application perspective, nevertheless, standard cameras may deteriorate remarkably under aggressive motion and challenging illumination conditions. In contrast, event-based cameras, as a category of novel biologically inspired sensors, ... |
FIDNet: LiDAR Point Cloud Semantic Segmentation with Fully Interpolation Decoding | https://ieeexplore.ieee.org/document/9636385/ | [
"Yiming Zhao",
"Lin Bai",
"Xinming Huang",
"Yiming Zhao",
"Lin Bai",
"Xinming Huang"
] | Projecting the point cloud on the 2D spherical range image transforms the LiDAR semantic segmentation to a 2D segmentation task on the range image. However, the LiDAR range image is still naturally different from the regular 2D RGB image; for example, each position on the range image encodes the unique geometry information. In this paper, we propose a new projection-based LiDAR semantic segmentati... |
Look Before You Act: Boosting Pseudo-LiDAR with Online Semantic Embedding | https://ieeexplore.ieee.org/document/9636529/ | [
"Liangjun Zhang",
"Tao Song",
"Tao Jiang",
"Di Xie",
"Shiliang Pu",
"Liangjun Zhang",
"Tao Song",
"Tao Jiang",
"Di Xie",
"Shiliang Pu"
] | Vision-based 3D object detection is a research focus in the field of autonomous driving system. While recently proposed pseudo-LiDAR is a promising solution, its performance is severely restricted by the image-based depth estimator, leading to a considerable performance gap against the LiDAR-based counterparts. In this paper, substantial advances are developed along an orthogonal direction to the ... |
FEANet: Feature-Enhanced Attention Network for RGB-Thermal Real-time Semantic Segmentation | https://ieeexplore.ieee.org/document/9636084/ | [
"Fuqin Deng",
"Hua Feng",
"Mingjian Liang",
"Hongmin Wang",
"Yong Yang",
"Yuan Gao",
"Junfeng Chen",
"Junjie Hu",
"Xiyue Guo",
"Tin Lun Lam",
"Fuqin Deng",
"Hua Feng",
"Mingjian Liang",
"Hongmin Wang",
"Yong Yang",
"Yuan Gao",
"Junfeng Chen",
"Junjie Hu",
"Xiyue Guo",
"Tin Lun Lam"
] | The RGB-Thermal (RGB-T) information for semantic segmentation has been extensively explored in recent years. However, most existing RGB-T semantic segmentation usually compromises spatial resolution to achieve real-time inference speed, which leads to poor performance. To better extract detail spatial information, we propose a two-stage Feature-Enhanced Attention Network (FEANet) for the RGB-T sem... |
ODIP: Towards Automatic Adaptation for Object Detection by Interactive Perception | https://ieeexplore.ieee.org/document/9635829/ | [
"Tung-I Chen",
"Jen-Wei Wang",
"Winston H. Hsu",
"Tung-I Chen",
"Jen-Wei Wang",
"Winston H. Hsu"
] | Object detection plays a deep role in visual systems by identifying instances for downstream algorithms. In industrial scenarios, however, a slight change in manufacturing systems would lead to costly data re-collection and human annotation processes to re-train models. Existing solutions such as semi-supervised and few-shot methods either rely on numerous human annotations or suffer low performan... |
Vessel Classification Using A Regression Neural Network Approach | https://ieeexplore.ieee.org/document/9636161/ | [
"Rasmus Eckholdt Andersen",
"Lazaros Nalpantidis",
"Evangelos Boukas",
"Rasmus Eckholdt Andersen",
"Lazaros Nalpantidis",
"Evangelos Boukas"
] | Marine vessels are subject to high wear and tear due to the conditions they operate in. To reduce risk of failure during operation, vessels are inspected periodically every five years. These inspections are prone to high subjectiveness that makes them hard to reproduce for the shipping owners. The purpose of this paper is to present a regressor to a Faster R-CNN network that can help alleviate som... |
Evaluation of Long-term LiDAR Place Recognition | https://ieeexplore.ieee.org/document/9636320/ | [
"Jukka Peltomäki",
"Farid Alijani",
"Jussi Puura",
"Heikki Huttunen",
"Esa Rahtu",
"Joni-Kristian Kämäräinen",
"Jukka Peltomäki",
"Farid Alijani",
"Jussi Puura",
"Heikki Huttunen",
"Esa Rahtu",
"Joni-Kristian Kämäräinen"
] | We compare a state-of-the-art deep image retrieval and a deep place recognition method for place recognition using LiDAR data. Place recognition aims to detect previously visited locations and thus provides an important tool for navigation, mapping, and localisation. Experimental comparisons are conducted using challenging outdoor and indoor datasets, Oxford Radar RobotCar and COLD, in the "long-t... |
KB-Tree: Learnable and Continuous Monte-Carlo Tree Search for Autonomous Driving Planning | https://ieeexplore.ieee.org/document/9636442/ | [
"Lanxin Lei",
"Ruiming Luo",
"Renjie Zheng",
"Jingke Wang",
"JianWei Zhang",
"Cong Qiu",
"Liulong Ma",
"Liyang Jin",
"Ping Zhang",
"Junbo Chen",
"Lanxin Lei",
"Ruiming Luo",
"Renjie Zheng",
"Jingke Wang",
"JianWei Zhang",
"Cong Qiu",
"Liulong Ma",
"Liyang Jin",
"Ping Zhang",
"Junbo Chen"
] | In this paper, we present a novel learnable and continuous Monte-Carlo Tree Search method, named as KB-Tree, for motion planning in autonomous driving. The proposed method utilizes an asymptotical PUCB based on Kernel Regression (KR-AUCB) as a novel UCB variant, to improve the exploitation and exploration performance. In addition, we further optimize the sampling in continuous space by adapting Ba... |
Autonomous Mobile Robot Navigation Independent of Road Boundary Using Driving Recommendation Map | https://ieeexplore.ieee.org/document/9636635/ | [
"Yuya Onozuka",
"Ryosuke Matsumi",
"Motoki Shino",
"Yuya Onozuka",
"Ryosuke Matsumi",
"Motoki Shino"
] | Numerous autonomous navigation systems have been proposed, so far, for use in walking environments. Of these, systems that do not rely on high-definition maps and precise localization are cheaper to maintain and easier to implement in unknown outdoor environments. In these systems, road-following navigation using road boundaries is commonly used. In outdoor environments, however, the road boundary... |
Learning-based 3D Occupancy Prediction for Autonomous Navigation in Occluded Environments | https://ieeexplore.ieee.org/document/9636333/ | [
"Lizi Wang",
"Hongkai Ye",
"Qianhao Wang",
"Yuman Gao",
"Chao Xu",
"Fei Gao",
"Lizi Wang",
"Hongkai Ye",
"Qianhao Wang",
"Yuman Gao",
"Chao Xu",
"Fei Gao"
] | In autonomous navigation, sensors suffer from massive occlusion in cluttered environments, leaving a significant amount of space unknown. In practice, treating the unknown space in optimistic or pessimistic ways both set limitations on planning performance. Therefore, aggressiveness and safety cannot be satisfied at the same time. Mimicking human behavior, in this paper, we propose a method based ... |
Cooperative Autonomous Vehicles that Sympathize with Human Drivers | https://ieeexplore.ieee.org/document/9636151/ | [
"Behrad Toghi",
"Rodolfo Valiente",
"Dorsa Sadigh",
"Ramtin Pedarsani",
"Yaser P. Fallah",
"Behrad Toghi",
"Rodolfo Valiente",
"Dorsa Sadigh",
"Ramtin Pedarsani",
"Yaser P. Fallah"
] | Widespread adoption of autonomous vehicles will not become a reality until solutions are developed that enable these intelligent agents to co-exist with humans. This includes safely and efficiently interacting with human-driven vehicles, especially in both conflictive and competitive scenarios. We build up on the prior work on socially-aware navigation and borrow the concept of social value orient... |
Shape Estimation of Negative Obstacles for Autonomous Navigation | https://ieeexplore.ieee.org/document/9636250/ | [
"Viswadeep Lebakula",
"Bo Tang",
"Christopher Goodin",
"Cindy L. Bethel",
"Viswadeep Lebakula",
"Bo Tang",
"Christopher Goodin",
"Cindy L. Bethel"
] | Obstacle detection and avoidance plays a crucial role in autonomous navigation of unmanned ground vehicles. This becomes more challenging in off-road environments due to the higher probability of finding negative obstacles (e.g., holes, ditches, trenches, etc.) compared with on-road environments. One approach to solve this problem is to avoid the candidate path with a negative obstacle, but in off... |
Reinforcement Learning based Negotiation-aware Motion Planning of Autonomous Vehicles | https://ieeexplore.ieee.org/document/9635935/ | [
"Zhitao Wang",
"Yuzheng Zhuang",
"Qiang Gu",
"Dong Chen",
"Hongbo Zhang",
"Wulong Liu",
"Zhitao Wang",
"Yuzheng Zhuang",
"Qiang Gu",
"Dong Chen",
"Hongbo Zhang",
"Wulong Liu"
] | For autonomous vehicles integrating onto road-ways with human traffic participants, it requires understanding and adapting to the participants’ intention by responding in predictable ways. This paper proposes a reinforcement learning based negotiation-aware motion planning framework, which adopts RL to adjust the driving style of the planner by dynamically modifying the prediction horizon length o... |
Terrain-Aware Risk-Assessment-Network-Aided Deep Reinforcement Learning for Quadrupedal Locomotion in Tough Terrain | https://ieeexplore.ieee.org/document/9636519/ | [
"Hongyin Zhang",
"Jilong Wang",
"Zhengqing Wu",
"Yinuo Wang",
"Donglin Wang",
"Hongyin Zhang",
"Jilong Wang",
"Zhengqing Wu",
"Yinuo Wang",
"Donglin Wang"
] | When it comes to the control system of quadruped robots, deep reinforcement learning (DRL) is considered to be a promising solution. Despite years of development in this field, difficulties remain in guaranteeing the action stability of DRL-based quadruped robots’ locomotion, especially in tough terrain. In this paper, a terrain-aware teacher-student controller integrating a risk assessment networ... |
Hierarchical Terrain-Aware Control for Quadrupedal Locomotion by Combining Deep Reinforcement Learning and Optimal Control | https://ieeexplore.ieee.org/document/9636738/ | [
"Qingfeng Yao",
"Jilong Wang",
"Donglin Wang",
"Shuyu Yang",
"Hongyin Zhang",
"Yinuo Wang",
"Zhengqing Wu",
"Qingfeng Yao",
"Jilong Wang",
"Donglin Wang",
"Shuyu Yang",
"Hongyin Zhang",
"Yinuo Wang",
"Zhengqing Wu"
] | Quadruped robots possess advantages on different terrains over other types of mobile robots by virtue of their flexible choices of foothold points. It is crucial to integrate terrain perception with motion planning to exploit the potential of quadruped robots. We propose a novel hierarchical terrain-aware control (HTC) framework, which leverages deep reinforcement learning (DRL) for the high-level... |
Model-based Constrained Reinforcement Learning using Generalized Control Barrier Function | https://ieeexplore.ieee.org/document/9636468/ | [
"Haitong Ma",
"Jianyu Chen",
"Shengbo Eben",
"Ziyu Lin",
"Yang Guan",
"Yangang Ren",
"Sifa Zheng",
"Haitong Ma",
"Jianyu Chen",
"Shengbo Eben",
"Ziyu Lin",
"Yang Guan",
"Yangang Ren",
"Sifa Zheng"
] | Model information can be used to predict future trajectories, so it has huge potential to avoid dangerous regions when applying reinforcement learning (RL) on real-world tasks, like autonomous driving. However, existing studies mostly use model-free constrained RL, which causes inevitable constraint violations. This paper proposes a model-based feasibility enhancement technique of constrained RL, ... |
Learning Human Rewards by Inferring Their Latent Intelligence Levels in Multi-Agent Games: A Theory-of-Mind Approach with Application to Driving Data | https://ieeexplore.ieee.org/document/9636653/ | [
"Ran Tian",
"Masayoshi Tomizuka",
"Liting Sun",
"Ran Tian",
"Masayoshi Tomizuka",
"Liting Sun"
] | Reward function, as an incentive representation that recognizes humans’ agency and rationalizes humans’ actions, is particularly appealing for modeling human behavior in human-robot interaction. Inverse Reinforcement Learning is an effective way to retrieve reward functions from demonstrations. However, it has always been challenging when applying it to multi-agent settings since the mutual influe... |
Meta-Learning for Fast Adaptive Locomotion with Uncertainties in Environments and Robot Dynamics | https://ieeexplore.ieee.org/document/9635840/ | [
"Timothée Anne",
"Jack Wilkinson",
"Zhibin Li",
"Timothée Anne",
"Jack Wilkinson",
"Zhibin Li"
] | This work developed meta-learning control policies to achieve fast online adaptation to different changing conditions, which generate diverse and robust locomotion. The proposed method updates the interaction model constantly, samples feasible sequences of actions of estimated state-action trajectories, and then applies the optimal actions to maximize the reward. To achieve online model adaptation... |
Monolithic vs. hybrid controller for multi-objective Sim-to-Real learning | https://ieeexplore.ieee.org/document/9636426/ | [
"Atakan Dag",
"Alexandre Angleraud",
"Wenyan Yang",
"Nataliya Strokina",
"Roel S. Pieters",
"Minna Lanz",
"Joni-Kristian Kämäräinen",
"Atakan Dag",
"Alexandre Angleraud",
"Wenyan Yang",
"Nataliya Strokina",
"Roel S. Pieters",
"Minna Lanz",
"Joni-Kristian Kämäräinen"
] | Simulation to real (Sim-to-Real) is an attractive approach to construct controllers for robotic tasks that are easier to simulate than to analytically solve. Working Sim-to-Real solutions have been demonstrated for tasks with a clear single objective such as "reach the target". Real world applications, however, often consist of multiple simultaneous objectives such as "reach the target" but "avoid... |
Centralizing State-Values in Dueling Networks for Multi-Robot Reinforcement Learning Mapless Navigation | https://ieeexplore.ieee.org/document/9636349/ | [
"Enrico Marchesini",
"Alessandro Farinelli",
"Enrico Marchesini",
"Alessandro Farinelli"
] | We study the problem of multi-robot mapless navigation in the popular Centralized Training and Decentralized Execution (CTDE) paradigm. This problem is challenging when each robot considers its path without explicitly sharing observations with other robots and can lead to non-stationary issues in Deep Reinforcement Learning (DRL). The typical CTDE algorithm factorizes the joint action-value functi... |
You Only Group Once: Efficient Point-Cloud Processing with Token Representation and Relation Inference Module | https://ieeexplore.ieee.org/document/9636858/ | [
"Chenfeng Xu",
"Bohan Zhai",
"Bichen Wu",
"Tian Li",
"Wei Zhan",
"Peter Vajda",
"Kurt Keutzer",
"Masayoshi Tomizuka",
"Chenfeng Xu",
"Bohan Zhai",
"Bichen Wu",
"Tian Li",
"Wei Zhan",
"Peter Vajda",
"Kurt Keutzer",
"Masayoshi Tomizuka"
] | 3D perception on point-cloud is a challenging and crucial computer vision task. A point-cloud consists of a sparse, unstructured, and unordered set of points. To understand a point-cloud, previous point-based methods, such as PointNet++, extract visual features through the hierarchical aggregation of local features. However, such methods have several critical limitations: 1) They require considera... |
VIPose: Real-time Visual-Inertial 6D Object Pose Tracking | https://ieeexplore.ieee.org/document/9636283/ | [
"Rundong Ge",
"Giuseppe Loianno",
"Rundong Ge",
"Giuseppe Loianno"
] | Estimating the 6D pose of objects is beneficial for robotics tasks such as transportation, autonomous navigation, manipulation as well as in scenarios beyond robotics like virtual and augmented reality. With respect to single image pose estimation, pose tracking takes into account the temporal information across multiple frames to overcome possible detection inconsistencies and to improve the pose... |
Using Visual Anomaly Detection for Task Execution Monitoring | https://ieeexplore.ieee.org/document/9636133/ | [
"Santosh Thoduka",
"Juergen Gall",
"Paul G. Plöger",
"Santosh Thoduka",
"Juergen Gall",
"Paul G. Plöger"
] | Execution monitoring is essential for robots to detect and respond to failures. Since it is impossible to enumerate all failures for a given task, we learn from successful executions of the task to detect visual anomalies during runtime. Our method learns to predict the motions that occur during the nominal execution of a task, including camera and robot body motion. A probabilistic U-Net architec... |
Moving SLAM: Fully Unsupervised Deep Learning in Non-Rigid Scenes | https://ieeexplore.ieee.org/document/9636075/ | [
"Dan Xu",
"Andrea Vedaldi",
"João F. Henriques",
"Dan Xu",
"Andrea Vedaldi",
"João F. Henriques"
] | We propose a new deep learning framework to decompose monocular videos into 3D geometry (camera pose and depth), moving objects, and their motions, with no supervision. We build upon the idea of view synthesis, which uses classical camera geometry to re-render a source image from a different point-of-view to obtain supervisory signals, specified by a predicted relative 6-degree-of-freedom pose and... |
Pose Estimation from RGB Images of Highly Symmetric Objects using a Novel Multi-Pose Loss and Differential Rendering | https://ieeexplore.ieee.org/document/9636839/ | [
"Stefan Hein Bengtson",
"Hampus Åström",
"Thomas B. Moeslund",
"Elin A. Topp",
"Volker Krueger",
"Stefan Hein Bengtson",
"Hampus Åström",
"Thomas B. Moeslund",
"Elin A. Topp",
"Volker Krueger"
] | We propose a novel multi-pose loss function to train a neural network for 6D pose estimation, using synthetic data and evaluating it on real images. Our loss is inspired by the VSD (Visible Surface Discrepancy) metric and relies on a differentiable renderer and CAD models. This novel multi-pose approach produces multiple weighted pose estimates to avoid getting stuck in local minima. Our method re... |
Denoising 3D Human Poses from Low-Resolution Video using Variational Autoencoder | https://ieeexplore.ieee.org/document/9636144/ | [
"Chihiro Nakatsuka",
"Satoshi Komorita",
"Chihiro Nakatsuka",
"Satoshi Komorita"
] | We tackle the problem of refining and denoising a series of 3D human poses estimated from a low-resolution video. Low-resolution often causes the wrong pose estimation, e.g., left-right switching and the absence of keypoints. We propose to use the variational autoencoder (VAE) to remove these challenging noises. The VAE model utilizes time-series information and motion priors in denoising. From ou... |
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