Pre-Driving Needless System for Autonomous Mobile Robots Navigation in Real World Robot Challenge 2013

2014 ◽  
Vol 26 (2) ◽  
pp. 185-195 ◽  
Author(s):  
Masanobu Saito ◽  
◽  
Kentaro Kiuchi ◽  
Shogo Shimizu ◽  
Takayuki Yokota ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Real World ◽  
Urban Areas ◽  
Human Life ◽  
Dead Reckoning ◽  
Point Clouds ◽  
Autonomous Mobile Robots ◽  
Navigation Systems ◽  
Global Planning ◽  
The Web

This paper describes navigation systems for autonomous mobile robots taking part in the real-world Tsukuba Challenge 2013 robot competition. Tsukuba Challenge 2013 enables any information on the route to be collected beforehand and used on the day of the challenge. At the same time, however, autonomous mobile robots should function appropriately in daily human life even in areas where they have never been before. System thus need not capture pre-driving details. We analyzed traverses in complex urban areas without prior environmental information using light detection and ranging (LIDAR). We also determined robot status, such as its position and orientation using the gauss maps derived from LIDAR without gyro sensors. Dead reckoning was combined with wheel odometry and orientation from above. We corrected 2D robot poses by matching electronics maps from the Web. Because drift inevitably causes errors, slippage and failure, etc., our robot also traced waypoints derived beforehand from the same electronics map, so localization is consistent even if we do not drive through an area ahead of time. Trajectory candidates are generated along global planning routes based on these waypoints and an optimal trajectory is selected. Tsukuba Challenge 2013 required that robots find specified human targets indicated by features released on the Web. To find the target correctly without driving in Tsukuba beforehand, we searched for point cloud clusters similar to specified human targets based on predefined features. These point clouds were then projected on the camera image at the time, and we extracted points of interest such as SURF to apply fast appearance-based mapping (FAB-MAP). This enabled us to find specified targets highly accurately. To demonstrate the feasibility of our system, experiments were conducted over our university route and over that in the Tsukuba Challenge.

scholarly journals CNN-BASED PLACE RECOGNITION TECHNIQUE FOR LIDAR SLAM

2020 ◽  
Vol XLIV-M-2-2020 ◽  
pp. 117-122
Author(s):  
Y. Yang ◽  
S. Song ◽  
C. Toth
Keyword(s):  
Urban Areas ◽  
Recognition Task ◽  
Dead Reckoning ◽  
Point Clouds ◽  
Navigation Systems ◽  
Place Recognition ◽  
3D Point Clouds ◽  
Localization And Mapping ◽  
Sensing Platform ◽  
3D Descriptors

Abstract. Place recognition or loop closure is a technique to recognize landmarks and/or scenes visited by a mobile sensing platform previously in an area. The technique is a key function for robustly practicing Simultaneous Localization and Mapping (SLAM) in any environment, including the global positioning system (GPS) denied environment by enabling to perform the global optimization to compensate the drift of dead-reckoning navigation systems. Place recognition in 3D point clouds is a challenging task which is traditionally handled with the aid of other sensors, such as camera and GPS. Unfortunately, visual place recognition techniques may be impacted by changes in illumination and texture, and GPS may perform poorly in urban areas. To mitigate this problem, state-of-art Convolutional Neural Networks (CNNs)-based 3D descriptors may be directly applied to 3D point clouds. In this work, we investigated the performance of different classification strategies utilizing a cutting-edge CNN-based 3D global descriptor (PointNetVLAD) for place recognition task on the Oxford RobotCar dataset.

scholarly journals A one decade survey of autonomous mobile robot systems

2021 ◽  
Vol 11 (6) ◽  
pp. 4891
Author(s):  
Noor Abdul Khaleq Zghair ◽  
Ahmed S. Al-Araji
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Real World ◽  
Control Unit ◽  
Global Market ◽  
Autonomous Mobile Robots ◽  
Modern World ◽  
Navigation Systems ◽  
Private Households ◽  
Robot Systems

<span lang="EN-US">Recently, autonomous mobile robots have gained popularity in the modern world due to their relevance technology and application in real world situations. The global market for mobile robots will grow significantly over the next 20 years. Autonomous mobile robots are found in many fields including institutions, industry, business, hospitals, agriculture as well as private households for the purpose of improving day-to-day activities and services. The development of technology has increased in the requirements for mobile robots because of the services and tasks provided by them, like rescue and research operations, surveillance, carry heavy objects and so on. Researchers have conducted many works on the importance of robots, their uses, and problems. This article aims to analyze the control system of mobile robots and the way robots have the ability of moving in real-world to achieve their goals. It should be noted that there are several technological directions in a mobile robot industry. It must be observed and integrated so that the robot functions properly: Navigation systems, localization systems, detection systems (sensors) along with motion and kinematics and dynamics systems. All such systems should be united through a control unit; thus, the mission or work of mobile robots are conducted with reliability.</span>

Using the Web While Offline

2018 ◽  
pp. 108-124
Author(s):  
Stuart Dillon ◽  
Karyn Rastrick ◽  
Florian Stahl ◽  
Gottfried Vossen
Keyword(s):  
Real World ◽  
Urban Areas ◽  
Search And Rescue ◽  
Use Cases ◽  
Smart Device ◽  
The Internet ◽  
Geographic Remoteness ◽  
The Web

Whilst access to the internet is becoming increasingly ubiquitous in highly populated, urban areas, for much of the planet web connectively is still largely absent. This is mainly due to geographic remoteness, but bad connectivity or governmental controls might also prevent web users from accessing desired resources. The authors have previously outlined a general approach to cope with such situations, which they termed “Web in your Pocket” (WiPo). WiPo assumes that the user has a smart device to which appropriate data, ideally in curated form, can be pre-loaded so that it remains accessible offline. In this chapter, the authors present the potential usability of WiPo by considering three important use-cases (tourism, health, and search and rescue) demonstrating the vast potential of WiPo. The chapter concludes by considering the practical issues that need to be overcome before it might be implemented in real-world situations.

Effects of Sensor Errors on the Performance of Map Matching

2005 ◽  
Vol 58 (2) ◽  
pp. 273-282 ◽  
Author(s):  
Wu Chen ◽  
Zhilin Li ◽  
Meng Yu ◽  
Yongqi Chen
Keyword(s):  
Hong Kong ◽  
Efficient Method ◽  
Urban Areas ◽  
Road Network ◽  
Dead Reckoning ◽  
Navigation Systems ◽  
Map Matching ◽  
The Road ◽  
Sensor Errors

Map matching has been widely applied in car navigation systems as an efficient method to display the location of vehicles on maps. Various map-matching algorithms have been proposed. Inevitably, the correctness of the map matching is closely related to the accuracy of positioning sensors, such as GPS or Dead Reckoning (DR), and the complexity of the road network and map, especially in urban areas where the GPS signal may be constantly blocked by buildings and the road network is complicated. The existing map matching algorithms cannot resolve the positioning problems under all circumstances. They sometimes give the wrong position estimates of the car on road; the result is called mismatching. In order to improve the quality of map matching, a deep understand of the accuracy of sensor errors on mismatching is important. This paper analyses various factors that may affect the quality of map matching based on extensive tests in Hong Kong. Suggestions to improve the success rate of map matching are also provided.

scholarly journals A Graph Representation Composed of Geometrical Components for Household Furniture Detection by Autonomous Mobile Robots

2018 ◽  
Vol 8 (11) ◽  
pp. 2234 ◽  
Author(s):  
Oscar Alonso-Ramirez ◽  
Antonio Marin-Hernandez ◽  
Homero Rios-Figueroa ◽  
Michel Devy ◽  
Saul Pomares-Hernandez ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Linear Method ◽  
Similarity Measures ◽  
Point Clouds ◽  
Autonomous Mobile Robots ◽  
Graph Representation ◽  
Geometric Features ◽  
3D Point Clouds ◽  
Robotic Platforms

This study proposes a framework to detect and recognize household furniture using autonomous mobile robots. The proposed methodology is based on the analysis and integration of geometric features extracted over 3D point clouds. A relational graph is constructed using those features to model and recognize each piece of furniture. A set of sub-graphs corresponding to different partial views allows matching the robot’s perception with partial furniture models. A reduced set of geometric features is employed: horizontal and vertical planes and the legs of the furniture. These features are characterized through their properties, such as: height, planarity and area. A fast and linear method for the detection of some geometric features is proposed, which is based on histograms of 3D points acquired from an RGB-D camera onboard the robot. Similarity measures for geometric features and graphs are proposed, as well. Our proposal has been validated in home-like environments with two different mobile robotic platforms; and partially on some 3D samples of a database.

Special Issue on Real World Robot Challenge in Tsukuba – Autonomous Technology for Useful Mobile Robot –

2015 ◽  
Vol 27 (4) ◽  
pp. 317-317 ◽  
Author(s):  
Yoshihiro Takita ◽  
Shin’ichi Yuta ◽  
Takashi Tsubouchi ◽  
Koichi Ozaki
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Real World ◽  
Autonomous Mobile Robots ◽  
Test Field ◽  
Human Beings ◽  
Special Issue ◽  
Problems And Solutions ◽  
Technological Challenge ◽  
Autonomous Technology

The first Tsukuba Challenge started in 2007 as a technological challenge for autonomous mobile robots moving around on city walkways. A task was then added involving the search for certain persons. In these and other ways, the challenge provides a test field for developing positive relationships between mobile robots and human beings. To make progress an autonomous robotic research, this special issue details and clarifies technological problems and solutions found by participants in the challenge. We sincerely thank the authors and reviewers for this chance to work with them in these important areas.

Multimodal real-world mapping and navigation system for autonomous mobile robots based on neural maps

1992 ◽  
Author(s):  
Jose L. Contreras-Vidal ◽  
J. M. Aguilar ◽  
Juan Lopez-Coronado ◽  
Eduardo Zalama
Keyword(s):  
Mobile Robots ◽  
Real World ◽  
Navigation System ◽  
Autonomous Mobile Robots ◽  
Neural Maps
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