Building a grid-semantic map for the navigation of service robots through human–robot interaction

AbstractThis paper presents an interactive approach to the construction of a grid-semantic map for the navigation of service robots in an indoor environment. It is based on the Robot Operating System (ROS) framework and contains four modules, namely Interactive Module, Control Module, Navigation Module and Mapping Module. Three challenging issues have been focused during its development: (i) how human voice and robot visual information could be effectively deployed in the mapping and navigation process; (ii) how semantic names could combine with coordinate data in an online Grid-Semantic map; and (iii) how a localization–evaluate–relocalization method could be used in global localization based on modified maximum particle weight of the particle swarm. A number of experiments are carried out in both simulated and real environments such as corridors and offices to verify its feasibility and performance

BLE Beacons for Indoor Positioning at an Interactive IoT-Based Smart Museum

The Internet of Things (IoT) can enable smart infrastructures to provide advanced services to the users. New technological advancement can improve our everyday life, even simple tasks as a visit to the museum. In this paper, an indoor localization system is presented, to enhance the user experience in a museum. In particular, the proposed system relies on Bluetooth Low Energy (BLE) beacons proximity and localization capabilities to automatically provide the users with cultural contents related to the observed artworks. At the same time, an RSS-based technique is used to estimate the location of the visitor in the museum. An Android application is developed to estimate the distance from the exhibits and collect useful analytics regarding each visit and provide a recommendation to the users. Moreover, the application implements a simple Kalman filter in the smartphone, without the need of the Cloud, to improve localization precision and accuracy. Experimental results on distance estimation, location, and detection accuracy show that BLE beacon is a promising solution for an interactive smart museum. The proposed system has been designed to be easily extensible to the IoT technologies and its effectiveness has been evaluated through experimentation

Cooperative μUAV-UGV autonomous indoor surveillance

In this paper, we present a heterogenous UGV-UAV system cooperatively solving tasks of periodical surveillance in indoor environments. In the proposed scenario, the UGV is equipped with an interactive helipad and it acts as a carrier of the UAV. The UAV is a light-weight quadro-rotor helicopter equipped with two cameras, which are used to inspect locations inaccessible for the UGV. The paper is focused on the most crucial aspects of the proposed UAV-UGV periodical surveillance that are visual navigation, localization and autonomous landing that need to be done periodically. We propose two concepts of mobile helipads employed for correction of imprecise landing of the UAV. Beside the description of the visual navigation, relative localization and both helipads, a study of landing performance is provided. The performance of the complex system is proven by an experiment of autonomous periodical surveillance in a changing environment with presence of people

Integration and coordination in a cognitive vision system

In this paper, we present a case study that exemplifies general ideas of system integration and coordination. The application field of assistant technology provides an ideal test bed for complex computer vision systems including real-time components, human-computer interaction, dynamic 3-d environments, and information retrieval aspects. In our scenario the user is wearing an augmented reality device that supports her/him in everyday tasks by presenting information that is triggered by perceptual and contextual cues. The system integrates a wide variety of visual functions like localization, object tracking and recognition, action recognition, interactive object learning, etc. We show how different kinds of system behavior are realized using the Active Memory Infrastructure that provides the technical basis for distributed computation and a data- and eventdriven integration approach

SMART-I²: Spatial Multi-users Audio-visual Real Time Interactive Interface, a broadcast application context

International audienceSMART-I2 is a high quality 3D audio-visual interactive rendering system. In SMART-I2, the screen is also used as a multichannel loudspeaker. The spatial audio rendering is based on Wave Field Synthesis, an approach that creates a coherent spatial perception of sound over a large listening area. The azimuth localization accuracy of the system has been verifed by a perceptual experiment. Contrary to conventional systems, SMART-I2 is able to realize a high degree of 3D audio-visual integration with almost no compromise on either the audio or the graphics rendering quality. Such a system can provide benefits to a wide range of applications. Index Terms-- Audio-visual integratio

Feedback-induced interactive dynamics: unitary but dissipative evolution

The time evolution of a physical system is generally described by a differential equation, which can be solved numerically by adopting a difference scheme with space-time discretization. This discretization, as a numerical artifact, results in accumulated errors during evolution thus usually plays a negative role in simulations. In a quantum circuit, however, the ``evolution time'' is represented by the depth of the circuit layer, thus is intrinsically discrete. Hence, the discretization-induced error therein is not a numerical artifact, but a physical observable effect responsible for remarkable nonequilibrium phenomena absent in conventional quantum dynamics. In this paper, we show that the combination of measurement feedback and temporal discretization can give rise to a new type of quantum dynamics characterized by unitary but dissipative evolution. As physical consequences of such an unitary but dissipative evolution, a nonequilibrium steady state with spontaneous symmetry breaking is revealed in a zero-dimensional (single-qubit) system. A localization mechanism distinct from that in the well-established Anderson localization has also been proposed in an one-dimensional interactive quantum system.Comment: accepted by Science Bulleti