2,531 research outputs found
Proceedings of the 23th Bilateral Student Workshop CTU Prague: Dresden (Germany) 2019
This technical report publishes the proceedings of the 23th Prague Workshop, which was held from 29th to 30th November 2019. The workshop offers a possibility for young scientists to present their current research work in the fields of computer graphics, human-computer-interaction, robotics and usability. The works is meant as a platform to bring together researchers from both the Czech Technical University in Prague (CTU) and the University of Applied Sciences Dresden (HTW). The German Academic Exchange Service offers its financial support to allow student participants the bilateral exchange between Prague and Dresden.:1) Incremental Pose Estimation of multiple LiDAR Scanners
using their Pointclouds, S.3
2) Soft- and Hardware Developments for Immersive Learning, S.6
3) Qualitative comparison of methods for example-based
style transfer, S.13
4) External Labeling With Utilization of Containment
Information, S.16
5) Real Time Viewing Direction Analysis to Store Recognized
Faces, S.20
6) Raising living standards of older adults - User research, S.29
7) Raising living standards of older adults - Concept, S.33
8) Towards the RoNiSCo Mobile Application, S.36
9) Development of a Fallen People Detector, S.41
10) Interactive tactile map for visually impaired older adults, S.47
11) Physical 3D LED display, S.5
A practical multirobot localization system
We present a fast and precise vision-based software intended for multiple robot localization. The core component of the software is a novel and efficient algorithm for black and white pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision and its computational complexity is independent of the processed image size. With off-the-shelf computational equipment and low-cost cameras, the core algorithm is able to process hundreds of images per second while tracking hundreds of objects with a millimeter precision. In addition, we present the method's mathematical model, which allows to estimate the expected localization precision, area of coverage, and processing speed from the camera's intrinsic parameters and hardware's processing capacity. The correctness of the presented model and performance of the algorithm in real-world conditions is verified in several experiments. Apart from the method description, we also make its source code public at \emph{http://purl.org/robotics/whycon}; so, it can be used as an enabling technology for various mobile robotic problems
Digital technologies for innovative mental health rehabilitation
Schizophrenia is a chronic mental illness, characterized by the loss of the notion of reality, failing to distinguish it from the imaginary. It affects the patient in life’s major areas, such as work, interpersonal relationships, or self-care, and the usual treatment is performed with the help of anti- psychotic medication, which targets primarily the hallucinations, delirium, etc. Other symptoms, such as the decreased emotional expression or avolition, require a multidisciplinary approach, including psychopharmacology, cognitive training, and many forms of therapy. In this context, this paper addresses the use of digital technologies to design and develop innovative rehabilitation techniques, particularly focusing on mental health rehabilitation, and contributing for the promotion of well-being and health from a holistic perspective. In this context, serious games and virtual reality allows for creation of immersive environments that contribute to a more effective and lasting recovery, with improvements in terms of quality of life. The use of machine learning techniques will allow the real-time analysis of the data collected during the execution of the rehabilitation procedures, as well as enable their dynamic and automatic adaptation according to the profile and performance of the patients, by increasing or reducing the exercises’ difficulty. It relies on the acquisition of biometric and physiological signals, such as voice, heart rate, and game performance, to estimate the stress level, thus adapting the difficulty of the experience to the skills of the patient. The system described in this paper is currently in development, in collaboration with a health unit, and is an engineering effort that combines hardware and software to develop a rehabilitation tool for schizophrenic patients. A clinical trial is also planned for assessing the effectiveness of the system among negative symptoms in schizophrenia patients.This work is funded by the European Regional Development Fund (ERDF) through the
Regional Operational Program North 2020, within the scope of Project GreenHealth - Digital strategies
in biological assets to improve well-being and promote green health, Norte-01-0145-FEDER-000042.info:eu-repo/semantics/publishedVersio
VISION-BASED URBAN NAVIGATION PROCEDURES FOR VERBALLY INSTRUCTED ROBOTS
The work presented in this thesis is part of a project in instruction based learning (IBL) for mobile
robots were a robot is designed that can be instructed by its users through unconstrained natural
language. The robot uses vision guidance to follow route instructions in a miniature town model.
The aim of the work presented here was to determine the functional vocabulary of the robot in the
form of "primitive procedures". In contrast to previous work in the field of instructable robots this
was done following a "user-centred" approach were the main concern was to create primitive
procedures that can be directly associated with natural language instructions. To achieve this, a corpus
of human-to-human natural language instructions was collected and analysed. A set of primitive
actions was found with which the collected corpus could be represented. These primitive actions were
then implemented as robot-executable procedures.
Natural language instructions are under-specified when destined to be executed by a robot. This is
because instructors omit information that they consider as "commonsense" and rely on the listener's
sensory-motor capabilities to determine the details of the task execution. In this thesis the under-specification
problem is solved by determining the missing information, either during the learning of
new routes or during their execution by the robot. During learning, the missing information is
determined by imitating the commonsense approach human listeners take to achieve the same
purpose. During execution, missing information, such as the location of road layout features
mentioned in route instructions, is determined from the robot's view by using image template
matching. The original contribution of this thesis, in both these methods, lies in the fact that they are
driven by the natural language examples found in the corpus collected for the IDL project.
During the testing phase a high success rate of primitive calls, when these were considered individually,
showed that the under-specification problem has overall been solved. A novel method for testing the
primitive procedures, as part of complete route descriptions, is also proposed in this thesis. This was
done by comparing the performance of human subjects when driving the robot, following route
descriptions, with the performance of the robot when executing the same route descriptions. The
results obtained from this comparison clearly indicated where errors occur from the time when a
human speaker gives a route description to the time when the task is executed by a human listener or
by the robot.
Finally, a software speed controller is proposed in this thesis in order to control the wheel speeds of
the robot used in this project. The controller employs PI (Proportional and Integral) and PID
(Proportional, Integral and Differential) control and provides a good alternative to expensive hardware
Active SLAM: A Review On Last Decade
This article presents a comprehensive review of the Active Simultaneous
Localization and Mapping (A-SLAM) research conducted over the past decade. It
explores the formulation, applications, and methodologies employed in A-SLAM,
particularly in trajectory generation and control-action selection, drawing on
concepts from Information Theory (IT) and the Theory of Optimal Experimental
Design (TOED). This review includes both qualitative and quantitative analyses
of various approaches, deployment scenarios, configurations, path-planning
methods, and utility functions within A-SLAM research. Furthermore, this
article introduces a novel analysis of Active Collaborative SLAM (AC-SLAM),
focusing on collaborative aspects within SLAM systems. It includes a thorough
examination of collaborative parameters and approaches, supported by both
qualitative and statistical assessments. This study also identifies limitations
in the existing literature and suggests potential avenues for future research.
This survey serves as a valuable resource for researchers seeking insights into
A-SLAM methods and techniques, offering a current overview of A-SLAM
formulation.Comment: 34 pages, 8 figures, 6 table
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