279 research outputs found
X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments
Modern robotic systems are required to operate in challenging environments,
which demand reliable localization under challenging conditions. LiDAR-based
localization methods, such as the Iterative Closest Point (ICP) algorithm, can
suffer in geometrically uninformative environments that are known to
deteriorate point cloud registration performance and push optimization toward
divergence along weakly constrained directions. To overcome this issue, this
work proposes i) a robust fine-grained localizability detection module, and ii)
a localizability-aware constrained ICP optimization module, which couples with
the localizability detection module in a unified manner. The proposed
localizability detection is achieved by utilizing the correspondences between
the scan and the map to analyze the alignment strength against the principal
directions of the optimization as part of its fine-grained LiDAR localizability
analysis. In the second part, this localizability analysis is then integrated
into the scan-to-map point cloud registration to generate drift-free pose
updates by enforcing controlled updates or leaving the degenerate directions of
the optimization unchanged. The proposed method is thoroughly evaluated and
compared to state-of-the-art methods in simulated and real-world experiments,
demonstrating the performance and reliability improvement in LiDAR-challenging
environments. In all experiments, the proposed framework demonstrates accurate
and generalizable localizability detection and robust pose estimation without
environment-specific parameter tuning.Comment: 20 Pages, 20 Figures Submitted to IEEE Transactions On Robotics.
Supplementary Video: https://youtu.be/SviLl7q69aA Project Website:
https://sites.google.com/leggedrobotics.com/x-ic
An Outlook into the Future of Egocentric Vision
What will the future be? We wonder! In this survey, we explore the gap
between current research in egocentric vision and the ever-anticipated future,
where wearable computing, with outward facing cameras and digital overlays, is
expected to be integrated in our every day lives. To understand this gap, the
article starts by envisaging the future through character-based stories,
showcasing through examples the limitations of current technology. We then
provide a mapping between this future and previously defined research tasks.
For each task, we survey its seminal works, current state-of-the-art
methodologies and available datasets, then reflect on shortcomings that limit
its applicability to future research. Note that this survey focuses on software
models for egocentric vision, independent of any specific hardware. The paper
concludes with recommendations for areas of immediate explorations so as to
unlock our path to the future always-on, personalised and life-enhancing
egocentric vision.Comment: We invite comments, suggestions and corrections here:
https://openreview.net/forum?id=V3974SUk1
Computational time analysis in extended kalman filter based simultaneous localization and mapping
The simultaneous localization and mapping (SLAM) of a mobile robot is one of the applications that use estimation techniques. SLAM is a navigation technique that allows a mobile robot to navigate around autonomously while observing its surroundings in an unfamiliar environment. SLAM does not require a priori map, instead the mobile robot creates a map of the area incrementally with the help of sensors on board and uses this map to localize its location Due to its relatively easy algorithm and efficiency of estimation via the representation of the belief by a multivariate Gaussian distribution and a unimodal distribution, with a single mean annotated and corresponding covariance uncertainty, the extended Kalman filter (EKF) has become one of the most preferred estimators in mobile robot SLAM. However, due to the update process of the covariance matrix, EKF-based SLAM has high computational time. In SLAM, if more observation is being made by mobile robot, the state covariance size will be increasing. This eventually requires more memory and processing time due to excessive computation needs to be calculated over time. Therefore there is a need of enhancing the estimation performance by reducing the computational time in SLAM. Three phases involve in this research methodology which the first is theoretical formulation of the mobile robot model. This is followed by the environment and estimation method used to solve the SLAM of mobile robot. Simulation analysis was used to verify the findings. This research attempts to introduce a new approach to simplify the structure of the covariance matrix using the eigenvalues matrix diagonalization method. Through simulation result it is proved that time taken to complete the SLAM process using diagonalized covariance was reduced as compared to the normal covariance. However, there is one limitation encountered from this method in which the covariance values become too small, that indicates an optimistic estimation. For this reason, second objective is motivated to improve the optimistic problem. Addition of new element into the diagonal matrix, which is known as a pseudo element, is also investigated in this study. Via mathematical approach, these problems are discussed and explored from estimation-theoretic point of view. Through adding the pseudo noise element into diagonalized covariance, the optimistic condition of covariance matrix can be improved. This was shown through the increased size of covariance ellipses at the end of simulation process. Based on the findings it can be concluded that the addition of pseudo matrix in the updated state covariance can further improved the computational time for mobile robot estimation
Pipeline Inspection with Autonomous Swarm Robotics
Underground water pipelines require frequent inspection to prevent decay and avoid costly repairs. The use of robots to inspect pipelines is well documented but the uniquely hostile environment of subterranean water networks means pipes require continual inspection. The idea of autonomous inspection robots that can provide continuous coverage has shown promise, but existing methods do not proactively aim to overcome a variety of diverse challenges. Specifically, extreme variability in the pipe conditions and the dense surrounding earth limit the communication capabilities of the robots, while dynamic water flows and power issues have a detrimental effect on their movement. This thesis presents the implementation of a range of path planning algorithms of varying levels of autonomy as governing swarm behaviours, each with a focus on overcoming some of the specific challenges inherent in underground water networks, with the goal of improving the efficiency with which the swarm can inspect a network. The Greedy Walk uses stochastic processes to plan a locally optimal path, the novel Ad Hoc algorithm aims to provide cyclic coverage, with robots moving as a fluid net throughout the network, and the k-Chinese Postman Problem solution explicitly plans optimal paths round subsections of a network. The thesis examines the performance of these behaviours against existing methods and anticipates obstacles in their real world implementation. The thesis then presents tailored versions of the path planning behaviours that include the introduction of more advanced methods focused on circumventing these issues. Specifically, the algorithms are developed to incorporate Gaussian Process Regression models to analyse strong water flows and use the data to plan intelligently, mitigating the detrimental effects of the flow. The flow analysis also provides a platform from which a novel Simultaneous Localisation and Mapping algorithm is presented, alongside a Multi-Objective Genetic Algorithm with the focus of increasing inspection frequency and conserving robot charge. The thesis shows evidence that an approach to pipeline inspection with autonomous swarm robotics based in path planning algorithms can help overcome the likely physical limitations of real world implementation
VGC 2023 - Unveiling the dynamic Earth with digital methods: 5th Virtual Geoscience Conference: Book of Abstracts
Conference proceedings of the 5th Virtual Geoscience Conference, 21-22 September 2023, held in Dresden. The VGC is a multidisciplinary forum for researchers in geoscience, geomatics and related disciplines to share their latest developments and applications.:Short Courses 9
Workshops Stream 1 10
Workshop Stream 2 11
Workshop Stream 3 12
Session 1 – Point Cloud Processing: Workflows, Geometry & Semantics 14
Session 2 – Visualisation, communication & Teaching 27
Session 3 – Applying Machine Learning in Geosciences 36
Session 4 – Digital Outcrop Characterisation & Analysis 49
Session 5 – Airborne & Remote Mapping 58
Session 6 – Recent Developments in Geomorphic Process and Hazard Monitoring 69
Session 7 – Applications in Hydrology & Ecology 82
Poster Contributions 9
Event-Driven Technologies for Reactive Motion Planning: Neuromorphic Stereo Vision and Robot Path Planning and Their Application on Parallel Hardware
Die Robotik wird immer mehr zu einem Schlüsselfaktor des technischen Aufschwungs. Trotz beeindruckender Fortschritte in den letzten Jahrzehnten, übertreffen Gehirne von Säugetieren in den Bereichen Sehen und Bewegungsplanung
noch immer selbst die leistungsfähigsten Maschinen. Industrieroboter sind sehr schnell und präzise, aber ihre Planungsalgorithmen sind in hochdynamischen Umgebungen, wie sie für die Mensch-Roboter-Kollaboration (MRK) erforderlich sind, nicht leistungsfähig genug. Ohne schnelle und adaptive Bewegungsplanung kann sichere MRK nicht garantiert werden. Neuromorphe Technologien, einschließlich visueller Sensoren und Hardware-Chips, arbeiten asynchron und verarbeiten so raum-zeitliche Informationen sehr effizient. Insbesondere ereignisbasierte visuelle Sensoren sind konventionellen, synchronen Kameras bei vielen Anwendungen bereits überlegen. Daher haben ereignisbasierte Methoden
ein großes Potenzial, schnellere und energieeffizientere Algorithmen zur Bewegungssteuerung in der MRK zu ermöglichen. In dieser Arbeit wird ein Ansatz zur flexiblen reaktiven Bewegungssteuerung eines Roboterarms vorgestellt. Dabei
wird die Exterozeption durch ereignisbasiertes Stereosehen erreicht und die Pfadplanung ist in einer neuronalen Repräsentation des Konfigurationsraums implementiert. Die Multiview-3D-Rekonstruktion wird durch eine qualitative Analyse in Simulation evaluiert und auf ein Stereo-System ereignisbasierter Kameras übertragen. Zur Evaluierung der reaktiven kollisionsfreien Online-Planung wird ein Demonstrator mit einem industriellen Roboter genutzt. Dieser wird auch für eine vergleichende Studie zu sample-basierten Planern verwendet. Ergänzt wird
dies durch einen Benchmark von parallelen Hardwarelösungen wozu als Testszenario Bahnplanung in der Robotik gewählt wurde. Die Ergebnisse zeigen, dass die vorgeschlagenen neuronalen Lösungen einen effektiven Weg zur Realisierung einer Robotersteuerung für dynamische Szenarien darstellen. Diese Arbeit schafft eine Grundlage für neuronale Lösungen bei adaptiven Fertigungsprozesse, auch in Zusammenarbeit mit dem Menschen, ohne Einbußen bei Geschwindigkeit und Sicherheit. Damit ebnet sie den Weg für die Integration von dem Gehirn nachempfundener Hardware und Algorithmen in die Industrierobotik und MRK
Multi-agent robotic systems and exploration algorithms: Applications for data collection in construction sites
The construction industry has been notoriously slow to adopt new technology
and embrace automation. This has resulted in lower efficiency and productivity
compared to other industries where automation has been widely adopted. However,
recent advancements in robotics and artificial intelligence offer a potential
solution to this problem. In this study, a methodology is proposed to integrate
multi-robotic systems in construction projects with the aim of increasing
efficiency and productivity. The proposed approach involves the use of multiple
robot and human agents working collaboratively to complete a construction task.
The methodology was tested through a case study that involved 3D digitization
of a small, occluded space using two robots and one human agent. The results
show that integrating multi-agent robotic systems in construction can
effectively overcome challenges and complete tasks efficiently. The
implications of this study suggest that multi-agent robotic systems could
revolutionize the industry
Valency over Time
The papers collected in this book are devoted to verbal valency, and share a diachronic perspective, by either discussing changes in the behavior of verbs or discussing verbal valency at different historical stages of specific languages. They provide new data for research on valency patterns and on changes in valency orientation, verbal voice, and related constructions
A review of laser scanning for geological and geotechnical applications in underground mining
Laser scanning can provide timely assessments of mine sites despite adverse
challenges in the operational environment. Although there are several published
articles on laser scanning, there is a need to review them in the context of
underground mining applications. To this end, a holistic review of laser
scanning is presented including progress in 3D scanning systems, data
capture/processing techniques and primary applications in underground mines.
Laser scanning technology has advanced significantly in terms of mobility and
mapping, but there are constraints in coherent and consistent data collection
at certain mines due to feature deficiency, dynamics, and environmental
influences such as dust and water. Studies suggest that laser scanning has
matured over the years for change detection, clearance measurements and
structure mapping applications. However, there is scope for improvements in
lithology identification, surface parameter measurements, logistic tracking and
autonomous navigation. Laser scanning has the potential to provide real-time
solutions but the lack of infrastructure in underground mines for data
transfer, geodetic networking and processing capacity remain limiting factors.
Nevertheless, laser scanners are becoming an integral part of mine automation
thanks to their affordability, accuracy and mobility, which should support
their widespread usage in years to come
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