35,186 research outputs found
Non-GNSS Smartphone Pedestrian Navigation Using Barometric Elevation and Digital Map-Matching
Pedestrian navigation in outdoor environments where global navigation satellite systems (GNSS) are unavailable is a challenging problem. Existing technologies that have attempted to address this problemoften require external reference signals or specialized hardware, the extra size,weight, power, and cost of which are unsuitable for many applications. This article presents a real-time, self-contained outdoor navigation application that uses only the existing sensors on a smartphone in conjunction with a preloaded digital elevation map. The core algorithm implements a particle filter, which fuses sensor data with a stochastic pedestrian motion model to predict the user’s position. The smartphone’s barometric elevation is then compared with the elevation map to constrain the position estimate. The system developed for this research was deployed on Android smartphones and tested in several terrains using a variety of elevation data sources. The results fromthese experiments showthe systemachieves positioning accuracies in the tens of meters that do not grow as a function of time
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A new navigation paradigm for virtual reality: the guided visit through a virtual world
The three main navigation paradigms for virtual worlds, i.e., free navigation, automatic tours, and multiuser navigation show important limitations when dealing with guided visits that involve interactive cooperation among several users in 3D virtual worlds over the Internet. In this paper, we present our research into this issue and some important results. We propose a new navigation paradigm denominated guided visit through a virtual world, where the capacity of a user guiding several remote users through the virtual world is enriched with the capacity to dynamically interchange the role of guiding between the connected users. The user that acts as a guide moves freely through the virtual world, and his/her movements are reproduced by the browsers of the other guided users. We also present the architecture and the system we developed that implements this paradigm, as well as its integration in a working realworld application that demonstrates its use
Attention and Anticipation in Fast Visual-Inertial Navigation
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to
estimate its state using an on-board camera and an inertial sensor, without any
prior knowledge of the external environment. We consider the case in which the
robot can allocate limited resources to VIN, due to tight computational
constraints. Therefore, we answer the following question: under limited
resources, what are the most relevant visual cues to maximize the performance
of visual-inertial navigation? Our approach has four key ingredients. First, it
is task-driven, in that the selection of the visual cues is guided by a metric
quantifying the VIN performance. Second, it exploits the notion of
anticipation, since it uses a simplified model for forward-simulation of robot
dynamics, predicting the utility of a set of visual cues over a future time
horizon. Third, it is efficient and easy to implement, since it leads to a
greedy algorithm for the selection of the most relevant visual cues. Fourth, it
provides formal performance guarantees: we leverage submodularity to prove that
the greedy selection cannot be far from the optimal (combinatorial) selection.
Simulations and real experiments on agile drones show that our approach ensures
state-of-the-art VIN performance while maintaining a lean processing time. In
the easy scenarios, our approach outperforms appearance-based feature selection
in terms of localization errors. In the most challenging scenarios, it enables
accurate visual-inertial navigation while appearance-based feature selection
fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table
Use of Portable Piloting Units by Maritime Pilots
The use of electronic navigation equipment onboard maritime vessels continues to increase, worldwide. The results of a recent Canadian study provide clear evidence that maritime pilots know what types of equipment to use -- and how to use them
Data analysis and navigation in high-dimensional chemical and biological spaces
The goal of this master thesis is to develop and validate a visual data-mining
approach suitable for the screening of chemicals in the context of REACH [Registration, Evaluation, Authorization and
Restriction of Chemicals]. The
proposed approach will facilitate the development and validation of non-testing
methods via the exploration of environmental endpoints and their relationship with
the chemical structure and physicochemical properties of chemicals.
The use of an interactive chemical space data exploration tool using 3D visualization
and navigation will enrich the information available with additional variables like
size, texture and color of the objects of the scene (compounds). The features that
distinguish this approach and make it unique are (i) the integration of multiple data
sources allowing the recovery in real time of complementary information of the
studied compounds, (ii) the integration of several algorithms for the data analysis
(dimensional reduction, generation of composite variables and clustering) and (iii)
direct user interaction with the data through the virtual navigation mechanism. All
this is achieved without the need for specialized hardware or the use of specific
devices and high-cost virtual reality and mixed reality
User-centered design of a dynamic-autonomy remote interaction concept for manipulation-capable robots to assist elderly people in the home
In this article, we describe the development of a human-robot interaction concept for service robots to assist elderly people in the home with physical tasks. Our approach is based on the insight that robots are not yet able to handle all tasks autonomously with sufficient reliability in the complex and heterogeneous environments of private homes. We therefore employ remote human operators to assist on tasks a robot cannot handle completely autonomously. Our development methodology was user-centric and iterative, with six user studies carried out at various stages involving a total of 241 participants. The concept is under implementation on the Care-O-bot 3 robotic platform. The main contributions of this article are (1) the results of a survey in form of a ranking of the demands of elderly people and informal caregivers for a range of 25 robot services, (2) the results of an ethnography investigating the suitability of emergency teleassistance and telemedical centers for incorporating robotic teleassistance, and (3) a user-validated human-robot interaction concept with three user roles and corresponding three user interfaces designed as a solution to the problem of engineering reliable service robots for home environments
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