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Exploration Et Navigation De Robots Basees Vision Omnidirectionnelle
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Book Synopsis Exploration et navigation de robots basées vision omnidirectionnelle by : Pauline Merveilleux-Orzekowska
Download or read book Exploration et navigation de robots basées vision omnidirectionnelle written by Pauline Merveilleux-Orzekowska and published by . This book was released on 2012 with total page 122 pages. Available in PDF, EPUB and Kindle. Book excerpt: La perception visuelle de l’espace libre (ou de façon duale des obstacles) est une problématique majeure dans de nombreuses applications en robotique mobile. Dans cette thèse, nous proposons d’utiliser les contours actifs comme support de perception pour la navigation autonome de robots mobiles dans des environnements inconnus et dynamiques, à l’aide d’un capteur de vision omnidirectionnelle. A ce jour, deux types de catégories de contours déformables existent dans la littérature : les contours actifs paramétriques et géométriques. Classiquement, les approches paramétriques fondées sur la minimisation d’une fonctionnelle énergie, apportent des solutions rapides mais présentent des problèmes de convergence dans les zones à fortes concavités ou à courbures extrémales. A l’inverse, les approches géométriques fondées sur la résolution d’une EDP non linéaire de propagation, gèrent les changements de topologie mais sont prohibitives en temps de calcul. Dans ce travail, les différentes améliorations apportées aux modèles paramétriques et géométriques existants ont permis de s’affranchir de ces contraintes de temps de calcul prohibitif et de convergence des modèles. Une nouvelle méthode basée sur une approximation par courbes de Bézier avec construction géométrique est également proposée. Des expérimentations menées en conditions réelles ont validé l’intérêt et l’efficacité de ces approches. Au terme de cette étude, la modélisation de l’espace libre par contour actif a été utilisée pour définir les possibilités d’exploration du robot dans son champ visuel, et une représentation métrique de l’espace dans une optique de partage des données. Une stratégie de navigation vers des points objectifs virtuels extraits du squelette de l’espace libre a été proposée. Cette technique permet le déplacement du robot au plus loin des frontières-obstacles (en suivant le diagramme de Voronoï par exemple) tout en évitant les éléments mobiles présents dans le champ perceptif du robot. Enfin, un module de cartographie incrémentale de l’espace exploré, reposant sur l’utilisation d’une grille d’occupation, a été proposé. Plusieurs expériences, menées dans divers environnements inconnus d’intérieur et d’extérieurs, nous ont permis d’évaluer les performances et le potentiel des méthodes développées.
Download or read book Robot Vision written by Stefan Florczyk and published by John Wiley & Sons. This book was released on 2006-03-06 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book is intended for advanced students in physics, mathematics, computer science, electrical engineering, robotics, engine engineering and for specialists in computer vision and robotics on the techniques for the development of vision-based robot projects. It focusses on autonomous and mobile service robots for indoor work, and teaches the techniques for the development of vision-based robot projects. A basic knowledge of informatics is assumed, but the basic introduction helps to adjust the knowledge of the reader accordingly. A practical treatment of the material enables a comprehensive understanding of how to handle specific problems, such as inhomogeneous illumination or occlusion. With this book, the reader should be able to develop object-oriented programs and show mathematical basic understanding. Such topics as image processing, navigation, camera types and camera calibration structure the described steps of developing further applications of vision-based robot projects.
Book Synopsis Vision Based Autonomous Robot Navigation by : Amitava Chatterjee
Download or read book Vision Based Autonomous Robot Navigation written by Amitava Chatterjee and published by Springer. This book was released on 2012-10-13 with total page 235 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book describes successful implementation of integration of low-cost, external peripherals, with off-the-shelf procured robots. An important highlight of the book is that it presents a detailed, step-by-step sample demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. The book also discusses the concept of implementing vision based SLAM employing a two camera based system.
Book Synopsis Amélioration de performance de la navigation basée vision pour la robotique autonome by : Hélène Roggeman
Download or read book Amélioration de performance de la navigation basée vision pour la robotique autonome written by Hélène Roggeman and published by . This book was released on 2017 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: L'objectif de cette thèse est de réaliser des missions diverses de navigation autonome en environnement intérieur et encombré avec des robots terrestres. La perception de l'environnement est assurée par un banc stéréo embarqué sur le robot et permet entre autres de calculer la localisation de l'engin grâce à un algorithme d'odométrie visuelle. Mais quand la qualité de la scène perçue par les caméras est faible, la localisation visuelle ne peut pas être calculée de façon précise. Deux solutions sont proposées pour remédier à ce problème. La première solution est l'utilisation d'une méthode de fusion de données multi-capteurs pour obtenir un calcul robuste de la localisation. La deuxième solution est la prédiction de la qualité de scène future afin d'adapter la trajectoire du robot pour s'assurer que la localisation reste précise. Dans les deux cas, la boucle de commande est basée sur l'utilisation de la commande prédictive afin de prendre en compte les différents objectifs de la mission : ralliement de points, exploration, évitement d'obstacles. Une deuxième problématique étudiée est la navigation par points de passage avec évitement d'obstacles mobiles à partir des informations visuelles uniquement. Les obstacles mobiles sont détectés dans les images puis leur position et vitesse sont estimées afin de prédire leur trajectoire future et ainsi de pouvoir anticiper leur déplacement dans la stratégie de commande. De nombreuses expériences ont été réalisées en situation réelle et ont permis de montrer l'efficacité des solutions proposées.
Book Synopsis Vision and Navigation by : Charles E Thorpe
Download or read book Vision and Navigation written by Charles E Thorpe and published by . This book was released on 1990-04-30 with total page 388 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Vision-based Navigation for Mobile Robots on Ill-structured Roads by : Hyun Nam Lee
Download or read book Vision-based Navigation for Mobile Robots on Ill-structured Roads written by Hyun Nam Lee and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous robots can replace humans to explore hostile areas, such as Mars and other inhospitable regions. A fundamental task for the autonomous robot is navigation. Due to the inherent difficulties in understanding natural objects and changing environments, navigation for unstructured environments, such as natural environments, has largely unsolved problems. However, navigation for ill-structured environments [1], where roads do not disappear completely, increases the understanding of these difficulties. We develop algorithms for robot navigation on ill-structured roads with monocular vision based on two elements: the appearance information and the geometric information. The fundamental problem of the appearance information-based navigation is road presentation. We propose a new type of road description, a vision vector space (V2-Space), which is a set of local collision-free directions in image space. We report how the V2-Space is constructed and how the V2-Space can be used to incorporate vehicle kinematic, dynamic, and time-delay constraints in motion planning. Failures occur due to the limitations of the appearance information-based navigation, such as a lack of geometric information. We expand the research to include consideration of geometric information. We present the vision-based navigation system using the geometric information. To compute depth with monocular vision, we use images obtained from different camera perspectives during robot navigation. For any given image pair, the depth error in regions close to the camera baseline can be excessively large. This degenerated region is named untrusted area, which could lead to collisions. We analyze how the untrusted areas are distributed on the road plane and predict them accordingly before the robot makes its move. We propose an algorithm to assist the robot in avoiding the untrusted area by selecting optimal locations to take frames while navigating. Experiments show that the algorithm can significantly reduce the depth error and hence reduce the risk of collisions. Although this approach is developed for monocular vision, it can be applied to multiple cameras to control the depth error. The concept of an untrusted area can be applied to 3D reconstruction with a two-view approach.
Book Synopsis Mobile Robots Navigation by : Alejandra Barrera
Download or read book Mobile Robots Navigation written by Alejandra Barrera and published by IntechOpen. This book was released on 2010-03-01 with total page 682 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described.
Book Synopsis Vision and Navigation by : Charles E. Thorpe
Download or read book Vision and Navigation written by Charles E. Thorpe and published by Springer. This book was released on 1990-04-30 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robots are playing an increasingly important role in our world. Remotely operated vehicles are in everyday use for hazardous tasks such as charting and cleaning up hazardous waste spills, construction work of tunnels and high rise buildings, and underwater inspection of oil drilling platforms in the ocean. A whole host of further applications, however, beckons robots capable of autonomous operation without or with very little intervention of human operators. Such robots of the future will explore distant planets, map the ocean floor, study the flow of pollutants and carbon dioxide through our atmosphere and oceans, work in underground mines, and perform other jobs we cannot even imagine; perhaps even drive our cars and walk our dogs. The biggest technical obstacles to building mobile robots are vision and navigation-enabling a robot to see the world around it, to plan and follow a safe path through its environment, and to execute its tasks. At the Carnegie Mellon Robotics Institute, we are studying those problems both in isolation and by building complete systems. Since 1980, we have developed a series of small indoor mobile robots, some experimental, and others for practical applicationr Our outdoor autonomous mobile robot research started in 1984, navigating through the campus sidewalk network using a small outdoor vehicle called the Terregator. In 1985, with the advent of DARPA's Autonomous Land Vehicle Project, we constructed a computer controlled van with onboard sensors and researchers. In the fall of 1987, we began the development of a six-legged Planetary Rover.
Book Synopsis Monocular Visual-inertial-based Navigation for Mobile Robots with Perception Aware Exploration and Map Construction by : 劉仲恩
Download or read book Monocular Visual-inertial-based Navigation for Mobile Robots with Perception Aware Exploration and Map Construction written by 劉仲恩 and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Vision-Based Robot Navigation by : Mateus Mendes
Download or read book Vision-Based Robot Navigation written by Mateus Mendes and published by Universal-Publishers. This book was released on 2012 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: Starting with a summary of the history of Artificial Intelligence, this book makes the bridge to the modern debate on the definition of Intelligence and the path to building Intelligent Machines. Since the definition of Intelligence is itself subject to open debate, the quest for Intelligent machines is pursuing a moving target. Apparently, intelligent behaviour is, to a great extent, the result of using a sophisticated associative memory, more than the result of heavy processing. The book describes theories on how the brain works, associative memory models and how a particular model - the Sparse Distributed Memory (SDM) - can be used to navigate a robot based on visual memories. Other robot navigation methods are also comprehensively revised and compared to the method proposed. The performance of the SDM-based robot has been tested in different typical problems, such as illumination changes, occlusions and image noise, taking the SDM to the limits. The results are extensively discussed in the book.
Book Synopsis Robot Rover Visual Navigation by : Hans P. Moravec
Download or read book Robot Rover Visual Navigation written by Hans P. Moravec and published by . This book was released on 1981 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis 3D Visual-inertial Odometry and Autonomous Mobile Robot Exploration with Learned Map Prediction by : Rakesh Shrestha
Download or read book 3D Visual-inertial Odometry and Autonomous Mobile Robot Exploration with Learned Map Prediction written by Rakesh Shrestha and published by . This book was released on 2018 with total page 37 pages. Available in PDF, EPUB and Kindle. Book excerpt: 2D and 3D scene reconstruction are important topics in the field of robotics and computer vision. Mobile robots require a model of the environment to perform navigational tasks, and model acquisition is a useful application in itself . This thesis presents a) A 3D odometry and mapping system producing metric scale map and pose estimates using a minimal sensor-suite b) An autonomous ground robot for 2D mapping of an unknown environment using learned map prediction. The first application proposes a direct visual-inertial odometry method working with a monocular camera. This system builds upon the state-of-the-art in direct vision-only odometry. It demonstrates superior system robustness and camera tracking accuracy compared to the original method. Furthermore, the system is able to produce a 3D map in metric scale, addressing the well known scale ambiguity inherent in monocular SLAM systems.The second application demonstrates an autonomous ground robot capable of exploring unknown indoor environments for reconstructing their 2D maps. This method combines the strengths of traditional information-theoretic approaches towards solving this problem and more recent deep learning techniques. Specifically, it employs a state-of-the-art generative neural network to predict unknown regions of a partially explored map, and uses the prediction to enhance the exploration in an information-theoretic manner. The system is evaluated against traditional methods in simulation using floor plans of real buildings and demonstrates advantage in terms of exploration efficiency. We retain an advantage over end-to-end learned exploration methods in that the robot's behavior is easily explicable in terms of the predicted map.
Book Synopsis Advances in Robot Navigation by : Alejandra Barrera
Download or read book Advances in Robot Navigation written by Alejandra Barrera and published by IntechOpen. This book was released on 2011-07-05 with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot navigation includes different interrelated activities such as perception - obtaining and interpreting sensory information; exploration - the strategy that guides the robot to select the next direction to go; mapping - the construction of a spatial representation by using the sensory information perceived; localization - the strategy to estimate the robot position within the spatial map; path planning - the strategy to find a path towards a goal location being optimal or not; and path execution, where motor actions are determined and adapted to environmental changes. This book integrates results from the research work of authors all over the world, addressing the abovementioned activities and analyzing the critical implications of dealing with dynamic environments. Different solutions providing adaptive navigation are taken from nature inspiration, and diverse applications are described in the context of an important field of study: social robotics.
Book Synopsis Autonomous Vision-based Terrain-relative Navigation for Planetary Exploration by : Vincent Simard Bilodeau
Download or read book Autonomous Vision-based Terrain-relative Navigation for Planetary Exploration written by Vincent Simard Bilodeau and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Vision Based Robot Navigation by : Daniel Risner Roth
Download or read book Vision Based Robot Navigation written by Daniel Risner Roth and published by . This book was released on 2004 with total page 54 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis we propose a vision-based robot navigation system that constructs a high level topological representation of the world. A robot using this system learns to recognize rooms and spaces by building a hidden Markov model of the environment. Motion planning is performed by doing bidirectional heuristic search with a discrete set of actions that account for the robot's nonholonomic constraints. The intent of this project is to create a system that allows a robot to be able to explore and to navigate in a wide variety of environments in a way that facilitates goal-oriented tasks.
Book Synopsis Exploration and visual mapping algorithms development for low cost mobile robots by :
Download or read book Exploration and visual mapping algorithms development for low cost mobile robots written by and published by . This book was released on 2004 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Ao mesmo tempo em que a autonomia de robôs pessoais e domésticosaumenta, cresce a necessidade de interação dos mesmos com o ambiente. Ainteração mais básica de um robô com o ambiente é feita pela percepção deste esua navegação. Para uma série de aplicações não é prático prover modelosgeométricos válidos do ambiente a um robô antes de seu uso. O robô necessita, então, criar estes modelos enquanto se movimenta e percebe o meio em que estáinserido através de sensores. Ao mesmo tempo é necessário minimizar acomplexidade requerida quanto a hardware e sensores utilizados. No presentetrabalho, um algoritmo iterativo baseado em entropia é proposto para planejaruma estratégia de exploração visual, permitindo a construção eficaz de um modeloem grafo do ambiente. O algoritmo se baseia na determinação da informaçãopresente em sub-regiões de uma imagem panorâmica 2-D da localização atual dorobô obtida com uma câmera fixa sobre o mesmo. Utilizando a métrica deentropia baseada na Teoria da Informação de Shannon, o algoritmo determina nóspotenciais para os quais deve se prosseguir a exploração. Através de procedimentode Visual Tracking, em conjunto com a técnica SIFT (Scale Invariant FeatureTransform), o algoritmo auxilia a navegação do robô para cada nó novo, onde oprocesso é repetido. Um procedimento baseado em transformações invariáveis adeterminadas variações espaciais (desenvolvidas a partir de Fourier e Mellin) éutilizado para auxiliar o processo de guiar o robô para nós já conhecidos. Tambémé proposto um método baseado na técnica SIFT. Os processos relativos à obtençãode imagens, avaliação, criação do grafo, e prosseguimento dos passos citadoscontinua até que o robô tenha mapeado o ambiente com nível pré-especificado dedetalhes. O conjunto de nós e imagens obtidos são combinados de modo a se criarum modelo em grafo do ambiente. Seguindo os caminhos, nó a nó, um robô podenavegar pelo ambiente já explorado. O método é particularmente adequado paraambientes planos. As componentes do algoritmo proposto foram desenvolvidas etestadas no presente trabalho. Resultados experimentais mostrando a eficácia dosmétodos propostos são apresentados.
Book Synopsis Localisation absolue de robots mobiles par le capteur de vision omnidirectionnelle SYCLOP by : Bruno Marhic
Download or read book Localisation absolue de robots mobiles par le capteur de vision omnidirectionnelle SYCLOP written by Bruno Marhic and published by . This book was released on 1999 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
