1,567 research outputs found
Increasing the Efficiency of 6-DoF Visual Localization Using Multi-Modal Sensory Data
Localization is a key requirement for mobile robot autonomy and human-robot
interaction. Vision-based localization is accurate and flexible, however, it
incurs a high computational burden which limits its application on many
resource-constrained platforms. In this paper, we address the problem of
performing real-time localization in large-scale 3D point cloud maps of
ever-growing size. While most systems using multi-modal information reduce
localization time by employing side-channel information in a coarse manner (eg.
WiFi for a rough prior position estimate), we propose to inter-weave the map
with rich sensory data. This multi-modal approach achieves two key goals
simultaneously. First, it enables us to harness additional sensory data to
localise against a map covering a vast area in real-time; and secondly, it also
allows us to roughly localise devices which are not equipped with a camera. The
key to our approach is a localization policy based on a sequential Monte Carlo
estimator. The localiser uses this policy to attempt point-matching only in
nodes where it is likely to succeed, significantly increasing the efficiency of
the localization process. The proposed multi-modal localization system is
evaluated extensively in a large museum building. The results show that our
multi-modal approach not only increases the localization accuracy but
significantly reduces computational time.Comment: Presented at IEEE-RAS International Conference on Humanoid Robots
(Humanoids) 201
Tahap penguasaan, sikap dan minat pelajar Kolej Kemahiran Tinggi MARA terhadap mata pelajaran Bahasa Inggeris
Kajian ini dilakukan untuk mengenal pasti tahap penguasaan, sikap dan minat pelajar
Kolej Kemahiran Tinggi Mara Sri Gading terhadap Bahasa Inggeris. Kajian yang
dijalankan ini berbentuk deskriptif atau lebih dikenali sebagai kaedah tinjauan. Seramai
325 orang pelajar Diploma in Construction Technology dari Kolej Kemahiran Tinggi
Mara di daerah Batu Pahat telah dipilih sebagai sampel dalam kajian ini. Data yang
diperoleh melalui instrument soal selidik telah dianalisis untuk mendapatkan
pengukuran min, sisihan piawai, dan Pekali Korelasi Pearson untuk melihat hubungan
hasil dapatan data. Manakala, frekuensi dan peratusan digunakan bagi mengukur
penguasaan pelajar. Hasil dapatan kajian menunjukkan bahawa tahap penguasaan
Bahasa Inggeris pelajar adalah berada pada tahap sederhana manakala faktor utama yang
mempengaruhi penguasaan Bahasa Inggeris tersebut adalah minat diikuti oleh sikap.
Hasil dapatan menggunakan pekali Korelasi Pearson juga menunjukkan bahawa terdapat
hubungan yang signifikan antara sikap dengan penguasaan Bahasa Inggeris dan antara
minat dengan penguasaan Bahasa Inggeris. Kajian menunjukkan bahawa semakin positif
sikap dan minat pelajar terhadap pengajaran dan pembelajaran Bahasa Inggeris semakin
tinggi pencapaian mereka. Hasil daripada kajian ini diharapkan dapat membantu pelajar
dalam meningkatkan penguasaan Bahasa Inggeris dengan memupuk sikap positif dalam
diri serta meningkatkan minat mereka terhadap Bahasa Inggeris dengan lebih baik. Oleh
itu, diharap kajian ini dapat memberi panduan kepada pihak-pihak yang terlibat dalam
membuat kajian yang akan datang
Overcoming barriers and increasing independence: service robots for elderly and disabled people
This paper discusses the potential for service robots to overcome barriers and increase independence of
elderly and disabled people. It includes a brief overview of the existing uses of service robots by disabled and elderly
people and advances in technology which will make new uses possible and provides suggestions for some of these new
applications. The paper also considers the design and other conditions to be met for user acceptance. It also discusses
the complementarity of assistive service robots and personal assistance and considers the types of applications and
users for which service robots are and are not suitable
Scan matching by cross-correlation and differential evolution
Scan matching is an important task, solved in the context of many high-level problems including pose estimation, indoor localization, simultaneous localization and mapping and others. Methods that are accurate and adaptive and at the same time computationally efficient are required to enable location-based services in autonomous mobile devices. Such devices usually have a wide range of high-resolution sensors but only a limited processing power and constrained energy supply. This work introduces a novel high-level scan matching strategy that uses a combination of two advanced algorithms recently used in this field: cross-correlation and differential evolution. The cross-correlation between two laser range scans is used as an efficient measure of scan alignment and the differential evolution algorithm is used to search for the parameters of a transformation that aligns the scans. The proposed method was experimentally validated and showed good ability to match laser range scans taken shortly after each other and an excellent ability to match laser range scans taken with longer time intervals between them.Web of Science88art. no. 85
- …