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Author: Alonzo Kelly
Publisher:
ISBN:
Category : Automatic tracking
Languages : en
Pages : 52
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Book Description
Abstract: "A new practical, high-performance mobile robot localization technique is described which is motivated by the fact that many man-made environments contain substantially flat, visually textured surfaces of persistent appearance. While the tracking of image regions is much studied in computer vision, appearance is still a largely unexploited localization resource in commercially relevant guidance applications. We show how prior appearance models can be used to enable highly repeatable mobile robot guidance that, unlike commercial alternatives, is both infrastructure-free and free-ranging. Very large scale mosaics are constructed and used to localize a mobile robot operating in the modeled environment. Straighforward techniques from vision-based localization and mosaicking are used to produce a field-relevant AGV guidance system based only on vision and odometry. The feasibility, design, implementation, and pre-commercial field qualification of such a guidance system are described."
Author: Alonzo Kelly
Publisher:
ISBN:
Category : Automatic tracking
Languages : en
Pages : 52
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Book Description
Abstract: "A new practical, high-performance mobile robot localization technique is described which is motivated by the fact that many man-made environments contain substantially flat, visually textured surfaces of persistent appearance. While the tracking of image regions is much studied in computer vision, appearance is still a largely unexploited localization resource in commercially relevant guidance applications. We show how prior appearance models can be used to enable highly repeatable mobile robot guidance that, unlike commercial alternatives, is both infrastructure-free and free-ranging. Very large scale mosaics are constructed and used to localize a mobile robot operating in the modeled environment. Straighforward techniques from vision-based localization and mosaicking are used to produce a field-relevant AGV guidance system based only on vision and odometry. The feasibility, design, implementation, and pre-commercial field qualification of such a guidance system are described."
Author: Ranjith Unnikrishnan
Publisher:
ISBN:
Category : Constraint programming (Computer science)
Languages : en
Pages : 54
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Book Description
Abstract: "Mobile robot localization from large-scale appearance mosaics has been showing increasing promise as a low-cost, high-performance and infrastructure-free solution to vehicle guidance in man-made environments. The feasibility of this technique relies on the construction of a high-resolution mosaic of the vehicle's environment. For reliable position estimation, the mosaic must be locally distortion-free as well as globally consistent. The problem of loop closure in cyclic environments that plagues this process is one that is commonly encountered in all map-building procedures, and its solution is often computationally expensive. This document investigates the problem of map-building with observations having low spatial and temporal persistence from sensors having a short sensory horizon. By exploiting the topology of sensor observations, the problem of masaicking can be formulated as one of constrained optimization whose solution can be obtained efficiently even for the problem scale typical to the application of interest. A basis of the space of constraints in spatial relationships between observations can be easily extracted. Extrinsically available information in the form of survey data can be treated identically to these constraints and incorporated in the map-building process. The developed framework can also be extended to accommodate incremental construction for online implementation."
Author: Alonzo Kelly
Publisher: Cambridge University Press
ISBN: 110703115X
Category : Computers
Languages : en
Pages : 717
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Book Description
Introduction -- Math fundamentals -- Numerical methods -- Dynamics -- Optimal estimation -- State estimation -- Control -- Perception -- Localization and mapping -- Motion planning
Author: L. Marques
Publisher: World Scientific
ISBN: 9812835768
Category : Technology & Engineering
Languages : en
Pages : 1309
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Book Description
This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. It contains peer-reviewed articles presented at the CLAWAR 2008 conference. Robots are no longer confined to industrial manufacturing environments; rather, a great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high-profile international event, acts as a platform for dissemination of research and development findings to address the current interest in mobile robotics in meeting the needs of mankind in various sectors of the society. These include personal care, public health, and services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general, and in mobile robotics specifically.
Author: George A. Bekey
Publisher: MIT Press
ISBN: 0262292475
Category : Technology & Engineering
Languages : en
Pages : 595
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Book Description
An introduction to the science and practice of autonomous robots that reviews over 300 current systems and examines the underlying technology. Autonomous robots are intelligent machines capable of performing tasks in the world by themselves, without explicit human control. Examples range from autonomous helicopters to Roomba, the robot vacuum cleaner. In this book, George Bekey offers an introduction to the science and practice of autonomous robots that can be used both in the classroom and as a reference for industry professionals. He surveys the hardware implementations of more than 300 current systems, reviews some of their application areas, and examines the underlying technology, including control, architectures, learning, manipulation, grasping, navigation, and mapping. Living systems can be considered the prototypes of autonomous systems, and Bekey explores the biological inspiration that forms the basis of many recent developments in robotics. He also discusses robot control issues and the design of control architectures. After an overview of the field that introduces some of its fundamental concepts, the book presents background material on hardware, control (from both biological and engineering perspectives), software architecture, and robot intelligence. It then examines a broad range of implementations and applications, including locomotion (wheeled, legged, flying, swimming, and crawling robots), manipulation (both arms and hands), localization, navigation, and mapping. The many case studies and specific applications include robots built for research, industry, and the military, among them underwater robotic vehicles, walking machines with four, six, and eight legs, and the famous humanoid robots Cog, Kismet, ASIMO, and QRIO. The book concludes with reflections on the future of robotics—the potential benefits as well as the possible dangers that may arise from large numbers of increasingly intelligent and autonomous robots.
Author: Salah Bourennane
Publisher: Springer
ISBN: 3540884580
Category : Computers
Languages : en
Pages : 1160
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Book Description
This book constitutes the refereed proceedings of the 10th International Conference on Advanced Concepts for Intelligent Vision Systems, ACIVS 2008, held in Juan-les-Pins, France, in October 2008. The 33 revised full papers and 69 posters presented were carefully reviewed and selected from 179 submissions. The papers are organized in topical sections on image and video coding; systems and applications; video processing; filtering and restoration; segmentation and feature extraction; tracking, scene understanding and computer vision; medical imaging; and biometrics and surveillance.
Author: Alonzo Kelly
Publisher: Springer
ISBN: 3642134084
Category : Technology & Engineering
Languages : en
Pages : 497
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Book Description
Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human en- ronments and vigorously engaged in its new challenges. Interacting with, assi- ing, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. Beyond its impact on physical robots, the body of knowledge robotics has p- duced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neuros- ences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the int- section of disciplines that the most striking advances happen. The Springer Tracts in Advanced Robotics (STAR) is devoted to bringing to the research community the latest advances in the robotics field on the basis of their significance and quality. Through a wide and timely dissemination of critical - search developments in robotics, our objective with this series is to promote more exchanges and collaborations among the researchers in the community and c- tribute to further advancements in this rapidly growing field.
Author: Emanuele Frontoni
Publisher: Lulu.com
ISBN: 147106977X
Category : Technology & Engineering
Languages : en
Pages : 157
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Book Description
The use of vision in mobile robotics in one of the main goal of this thesis. In particular novel appearance based approaches for image matching metric are introduced. These approaches are applied to the problem of mobile robot localization.Similarity measures between robot's views are used in probabilistic methods for robot pose estimation. In this field of probabilistic localization active approach are proposed allowing the robot to faster and better localize. All methods have been extensively tested using a real robot in an indoor environment.Note: the book is the publication of the PhD thesis discussed in Università Politecnica delle Marche, Ancona, Italy in 2006 by Emanuele Frontoni
Author: Jose A. Castellanos
Publisher: Springer Science & Business Media
ISBN: 146154405X
Category : Technology & Engineering
Languages : en
Pages : 212
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Book Description
During the last decade, many researchers have dedicated their efforts to constructing revolutionary machines and to providing them with forms of artificial intelligence to perform some of the most hazardous, risky or monotonous tasks historically assigned to human beings. Among those machines, mobile robots are undoubtedly at the cutting edge of current research directions. A rough classification of mobile robots can be considered: on the one hand, mobile robots oriented to human-made indoor environments; on the other hand, mobile robots oriented to unstructured outdoor environments, which could include flying oriented robots, space-oriented robots and underwater robots. The most common motion mechanism for surface mobile robots is the wheel-based mechanism, adapted both to flat surfaces, found in human-made environments, and to rough terrain, found in outdoor environments. However, some researchers have reported successful developments with leg-based mobile robots capable of climbing up stairs, although they require further investigation. The research work presented here focuses on wheel-based mobile robots that navigate in human-made indoor environments. The main problems described throughout this book are: Representation and integration of uncertain geometric information by means of the Symmetries and Perturbations Model (SPmodel). This model combines the use of probability theory to represent the imprecision in the location of a geometric element, and the theory of symmetries to represent the partiality due to characteristics of each type of geometric element. A solution to the first location problem, that is, the computation of an estimation for the mobile robot location when the vehicle is completely lost in the environment. The problem is formulated as a search in an interpretation tree using efficient matching algorithms and geometric constraints to reduce the size of the solution space. The book proposes a new probabilistic framework adapted to the problem of simultaneous localization and map building for mobile robots: the Symmetries and Perturbations Map (SPmap). This framework has been experimentally validated by a complete experiment which profited from ground-truth to accurately validate the precision and the appropriateness of the approach. The book emphasizes the generality of the solutions proposed to the different problems and their independence with respect to the exteroceptive sensors mounted on the mobile robot. Theoretical results are complemented by real experiments, where the use of multisensor-based approaches is highlighted.
Author:
Publisher:
ISBN:
Category : Marine resources
Languages : en
Pages : 748
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Book Description
