37,587 research outputs found
Fully Convolutional Neural Networks for Dynamic Object Detection in Grid Maps
Grid maps are widely used in robotics to represent obstacles in the
environment and differentiating dynamic objects from static infrastructure is
essential for many practical applications. In this work, we present a methods
that uses a deep convolutional neural network (CNN) to infer whether grid cells
are covering a moving object or not. Compared to tracking approaches, that use
e.g. a particle filter to estimate grid cell velocities and then make a
decision for individual grid cells based on this estimate, our approach uses
the entire grid map as input image for a CNN that inspects a larger area around
each cell and thus takes the structural appearance in the grid map into account
to make a decision. Compared to our reference method, our concept yields a
performance increase from 83.9% to 97.2%. A runtime optimized version of our
approach yields similar improvements with an execution time of just 10
milliseconds.Comment: This is a shorter version of the masters thesis of Florian Piewak and
it was accapted at IV 201
Computational intelligence approaches to robotics, automation, and control [Volume guest editors]
No abstract available
Role Playing Learning for Socially Concomitant Mobile Robot Navigation
In this paper, we present the Role Playing Learning (RPL) scheme for a mobile
robot to navigate socially with its human companion in populated environments.
Neural networks (NN) are constructed to parameterize a stochastic policy that
directly maps sensory data collected by the robot to its velocity outputs,
while respecting a set of social norms. An efficient simulative learning
environment is built with maps and pedestrians trajectories collected from a
number of real-world crowd data sets. In each learning iteration, a robot
equipped with the NN policy is created virtually in the learning environment to
play itself as a companied pedestrian and navigate towards a goal in a socially
concomitant manner. Thus, we call this process Role Playing Learning, which is
formulated under a reinforcement learning (RL) framework. The NN policy is
optimized end-to-end using Trust Region Policy Optimization (TRPO), with
consideration of the imperfectness of robot's sensor measurements. Simulative
and experimental results are provided to demonstrate the efficacy and
superiority of our method
CAR-Net: Clairvoyant Attentive Recurrent Network
We present an interpretable framework for path prediction that leverages
dependencies between agents' behaviors and their spatial navigation
environment. We exploit two sources of information: the past motion trajectory
of the agent of interest and a wide top-view image of the navigation scene. We
propose a Clairvoyant Attentive Recurrent Network (CAR-Net) that learns where
to look in a large image of the scene when solving the path prediction task.
Our method can attend to any area, or combination of areas, within the raw
image (e.g., road intersections) when predicting the trajectory of the agent.
This allows us to visualize fine-grained semantic elements of navigation scenes
that influence the prediction of trajectories. To study the impact of space on
agents' trajectories, we build a new dataset made of top-view images of
hundreds of scenes (Formula One racing tracks) where agents' behaviors are
heavily influenced by known areas in the images (e.g., upcoming turns). CAR-Net
successfully attends to these salient regions. Additionally, CAR-Net reaches
state-of-the-art accuracy on the standard trajectory forecasting benchmark,
Stanford Drone Dataset (SDD). Finally, we show CAR-Net's ability to generalize
to unseen scenes.Comment: The 2nd and 3rd authors contributed equall
Fast, Accurate Thin-Structure Obstacle Detection for Autonomous Mobile Robots
Safety is paramount for mobile robotic platforms such as self-driving cars
and unmanned aerial vehicles. This work is devoted to a task that is
indispensable for safety yet was largely overlooked in the past -- detecting
obstacles that are of very thin structures, such as wires, cables and tree
branches. This is a challenging problem, as thin objects can be problematic for
active sensors such as lidar and sonar and even for stereo cameras. In this
work, we propose to use video sequences for thin obstacle detection. We
represent obstacles with edges in the video frames, and reconstruct them in 3D
using efficient edge-based visual odometry techniques. We provide both a
monocular camera solution and a stereo camera solution. The former incorporates
Inertial Measurement Unit (IMU) data to solve scale ambiguity, while the latter
enjoys a novel, purely vision-based solution. Experiments demonstrated that the
proposed methods are fast and able to detect thin obstacles robustly and
accurately under various conditions.Comment: Appeared at IEEE CVPR 2017 Workshop on Embedded Visio
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