scholarly journals A Method for 6D Pose Estimation of Free-Form Rigid Objects Using Point Pair Features on Range Data

Sensors ◽  
2018 ◽  
Vol 18 (8) ◽  
pp. 2678 ◽  
Author(s):  
Joel Vidal ◽  
Chyi-Yeu Lin ◽  
Xavier Lladó ◽  
Robert Martí
Keyword(s):  
Pose Estimation ◽  
State Of The Art ◽  
Autonomous Systems ◽  
Free Form ◽  
Range Data ◽  
Method Performance ◽  
Point Pair ◽  
Fast Running ◽  
Rigid Objects ◽  
Feature Based

Pose estimation of free-form objects is a crucial task towards flexible and reliable highly complex autonomous systems. Recently, methods based on range and RGB-D data have shown promising results with relatively high recognition rates and fast running times. On this line, this paper presents a feature-based method for 6D pose estimation of rigid objects based on the Point Pair Features voting approach. The presented solution combines a novel preprocessing step, which takes into consideration the discriminative value of surface information, with an improved matching method for Point Pair Features. In addition, an improved clustering step and a novel view-dependent re-scoring process are proposed alongside two scene consistency verification steps. The proposed method performance is evaluated against 15 state-of-the-art solutions on a set of extensive and variate publicly available datasets with real-world scenarios under clutter and occlusion. The presented results show that the proposed method outperforms all tested state-of-the-art methods for all datasets with an overall 6.6% relative improvement compared to the second best method.

scholarly journals Point Pair Feature-Based Pose Estimation with Multiple Edge Appearance Models (PPF-MEAM) for Robotic Bin Picking

Sensors ◽  
2018 ◽  
Vol 18 (8) ◽  
pp. 2719 ◽  
Author(s):  
Diyi Liu ◽  
Shogo Arai ◽  
Jiaqi Miao ◽  
Jun Kinugawa ◽  
Zhao Wang ◽  
...  
Keyword(s):  
Pose Estimation ◽  
Point Cloud ◽  
Recognition Rate ◽  
Image Data ◽  
Multiple Edge ◽  
Point Pair ◽  
Online Computation ◽  
Bin Picking ◽  
Feature Based ◽  
Appearance Models

Automation of the bin picking task with robots entails the key step of pose estimation, which identifies and locates objects so that the robot can pick and manipulate the object in an accurate and reliable way. This paper proposes a novel point pair feature-based descriptor named Boundary-to-Boundary-using-Tangent-Line (B2B-TL) to estimate the pose of industrial parts including some parts whose point clouds lack key details, for example, the point cloud of the ridges of a part. The proposed descriptor utilizes the 3D point cloud data and 2D image data of the scene simultaneously, and the 2D image data could compensate the missing key details of the point cloud. Based on the descriptor B2B-TL, Multiple Edge Appearance Models (MEAM), a method using multiple models to describe the target object, is proposed to increase the recognition rate and reduce the computation time. A novel pipeline of an online computation process is presented to take advantage of B2B-TL and MEAM. Our algorithm is evaluated against synthetic and real scenes and implemented in a bin picking system. The experimental results show that our method is sufficiently accurate for a robot to grasp industrial parts and is fast enough to be used in a real factory environment.

3D Object Recognition and Relative Localization using a 3D sensor Embedded on a Mobile Robot

2020 ◽  
Author(s):  
Gopi Krishna Erabati
Keyword(s):  
Pose Estimation ◽  
Autonomous Systems ◽  
Microsoft Kinect ◽  
Object Localization ◽  
Initial Alignment ◽  
Relative Localization ◽  
3D Data ◽  
Industry Automation ◽  
Ofthe Object ◽  
3D Descriptors

The technology in current research scenario is marching towards automation forhigher productivity with accurate and precise product development. Vision andRobotics are domains which work to create autonomous systems and are the keytechnology in quest for mass productivity. The automation in an industry canbe achieved by detecting interactive objects and estimating the pose to manipulatethem. Therefore the object localization ( i.e., pose) includes position andorientation of object, has profound ?significance. The application of object poseestimation varies from industry automation to entertainment industry and fromhealth care to surveillance. The objective of pose estimation of objects is verysigni?cant in many cases, like in order for the robots to manipulate the objects,for accurate rendering of Augmented Reality (AR) among others.This thesis tries to solve the issue of object pose estimation using 3D dataof scene acquired from 3D sensors (e.g. Kinect, Orbec Astra Pro among others).The 3D data has an advantage of independence from object texture and invarianceto illumination. The proposal is divided into two phases : An o?ine phasewhere the 3D model template of the object ( for estimation of pose) is built usingIterative Closest Point (ICP) algorithm. And an online phase where the pose ofthe object is estimated by aligning the scene to the model using ICP, providedwith an initial alignment using 3D descriptors (like Fast Point Feature Transform(FPFH)).The approach we develop is to be integrated on two di?erent platforms :1)Humanoid robot `Pyrene' which has Orbec Astra Pro 3D sensor for data acquisition,and 2)Unmanned Aerial Vehicle (UAV) which has Intel Realsense Euclidon it. The datasets of objects (like electric drill, brick, a small cylinder, cake box)are acquired using Microsoft Kinect, Orbec Astra Pro and Intel RealSense Euclidsensors to test the performance of this technique. The objects which are used totest this approach are the ones which are used by robot. This technique is testedin two scenarios, fi?rstly, when the object is on the table and secondly when theobject is held in hand by a person. The range of objects from the sensor is 0.6to 1.6m. This technique could handle occlusions of the object by hand (when wehold the object), as ICP can work even if partial object is visible in the scene.

scholarly journals A New Multi-Person Pose Estimation Method Using the Partitioned CenterPose Network

2021 ◽  
Vol 11 (9) ◽  
pp. 4241
Author(s):  
Jiahua Wu ◽  
Hyo Jong Lee
Keyword(s):  
Pose Estimation ◽  
Human Body ◽  
State Of The Art ◽  
Estimation Method ◽  
Bottom Up ◽  
Center Point ◽  
Novel Approach ◽  
Body Joints

In bottom-up multi-person pose estimation, grouping joint candidates into the appropriately structured corresponding instance of a person is challenging. In this paper, a new bottom-up method, the Partitioned CenterPose (PCP) Network, is proposed to better cluster the detected joints. To achieve this goal, we propose a novel approach called Partition Pose Representation (PPR) which integrates the instance of a person and its body joints based on joint offset. PPR leverages information about the center of the human body and the offsets between that center point and the positions of the body’s joints to encode human poses accurately. To enhance the relationships between body joints, we divide the human body into five parts, and then, we generate a sub-PPR for each part. Based on this PPR, the PCP Network can detect people and their body joints simultaneously, then group all body joints according to joint offset. Moreover, an improved l1 loss is designed to more accurately measure joint offset. Using the COCO keypoints and CrowdPose datasets for testing, it was found that the performance of the proposed method is on par with that of existing state-of-the-art bottom-up methods in terms of accuracy and speed.

An experimental study on feature-based SLAM for multi-legged robots with RGB-D sensors

2017 ◽  
Vol 44 (4) ◽  
pp. 428-441 ◽  
Author(s):  
Michał R. Nowicki ◽  
Dominik Belter ◽  
Aleksander Kostusiak ◽  
Petr Cížek ◽  
Jan Faigl ◽  
...  
Keyword(s):  
Performance Metrics ◽  
State Of The Art ◽  
Building Blocks ◽  
Bundle Adjustment ◽  
The State ◽  
Legged Robots ◽  
Evaluation Methodology ◽  
Walking Robots ◽  
Content Type ◽  
Feature Based

Purpose This paper aims to evaluate four different simultaneous localization and mapping (SLAM) systems in the context of localization of multi-legged walking robots equipped with compact RGB-D sensors. This paper identifies problems related to in-motion data acquisition in a legged robot and evaluates the particular building blocks and concepts applied in contemporary SLAM systems against these problems. The SLAM systems are evaluated on two independent experimental set-ups, applying a well-established methodology and performance metrics. Design/methodology/approach Four feature-based SLAM architectures are evaluated with respect to their suitability for localization of multi-legged walking robots. The evaluation methodology is based on the computation of the absolute trajectory error (ATE) and relative pose error (RPE), which are performance metrics well-established in the robotics community. Four sequences of RGB-D frames acquired in two independent experiments using two different six-legged walking robots are used in the evaluation process. Findings The experiments revealed that the predominant problem characteristics of the legged robots as platforms for SLAM are the abrupt and unpredictable sensor motions, as well as oscillations and vibrations, which corrupt the images captured in-motion. The tested adaptive gait allowed the evaluated SLAM systems to reconstruct proper trajectories. The bundle adjustment-based SLAM systems produced best results, thanks to the use of a map, which enables to establish a large number of constraints for the estimated trajectory. Research limitations/implications The evaluation was performed using indoor mockups of terrain. Experiments in more natural and challenging environments are envisioned as part of future research. Practical implications The lack of accurate self-localization methods is considered as one of the most important limitations of walking robots. Thus, the evaluation of the state-of-the-art SLAM methods on legged platforms may be useful for all researchers working on walking robots’ autonomy and their use in various applications, such as search, security, agriculture and mining. Originality/value The main contribution lies in the integration of the state-of-the-art SLAM methods on walking robots and their thorough experimental evaluation using a well-established methodology. Moreover, a SLAM system designed especially for RGB-D sensors and real-world applications is presented in details.

Methods for Robot Behavior Adaptation for Cognitive Neurorehabilitation

2021 ◽  
Vol 5 (1) ◽  
Author(s):  
Alyssa Kubota ◽  
Laurel D. Riek
Keyword(s):  
State Of The Art ◽  
Cognitive Impairments ◽  
Autonomous Systems ◽  
Behavioral Adaptation ◽  
Annual Review ◽  
Publication Date ◽  
Pharmacological Treatments ◽  
Robot Behavior ◽  
Behavioral Treatments ◽  
Physical Abilities

An estimated 11% of adults report experiencing some form of cognitive decline, which may be associated with conditions such as stroke or dementia and can impact their memory, cognition, behavior, and physical abilities. While there are no known pharmacological treatments for many of these conditions, behavioral treatments such as cognitive training can prolong the independence of people with cognitive impairments. These treatments teach metacognitive strategies to compensate for memory difficulties in their everyday lives. Personalizing these treatments to suit the preferences and goals of an individual is critical to improving their engagement and sustainment, as well as maximizing the treatment's effectiveness. Robots have great potential to facilitate these training regimens and support people with cognitive impairments, their caregivers, and clinicians. This article examines how robots can adapt their behavior to be personalized to an individual in the context of cognitive neurorehabilitation. We provide an overview of existing robots being used to support neurorehabilitation and identify key principles for working in this space. We then examine state-of-the-art technical approaches for enabling longitudinal behavioral adaptation. To conclude, we discuss our recent work on enabling social robots to automatically adapt their behavior and explore open challenges for longitudinal behavior adaptation. This work will help guide the robotics community as it continues to provide more engaging, effective, and personalized interactions between people and robots. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

scholarly journals Meta-Transfer Learning Driven Tensor-Shot Detector for the Autonomous Localization and Recognition of Concealed Baggage Threats

Sensors ◽  
2020 ◽  
Vol 20 (22) ◽  
pp. 6450
Author(s):  
Taimur Hassan ◽  
Muhammad Shafay ◽  
Samet Akçay ◽  
Salman Khan ◽  
Mohammed Bennamoun ◽  
...  
Keyword(s):  
Transfer Learning ◽  
State Of The Art ◽  
Autonomous Systems ◽  
Aviation Security ◽  
Dual Energy ◽  
Average Precision ◽  
X Ray ◽  
Shot Classification ◽  
Object Proposals ◽  
The World

Screening baggage against potential threats has become one of the prime aviation security concerns all over the world, where manual detection of prohibited items is a time-consuming and hectic process. Many researchers have developed autonomous systems to recognize baggage threats using security X-ray scans. However, all of these frameworks are vulnerable against screening cluttered and concealed contraband items. Furthermore, to the best of our knowledge, no framework possesses the capacity to recognize baggage threats across multiple scanner specifications without an explicit retraining process. To overcome this, we present a novel meta-transfer learning-driven tensor-shot detector that decomposes the candidate scan into dual-energy tensors and employs a meta-one-shot classification backbone to recognize and localize the cluttered baggage threats. In addition, the proposed detection framework can be well-generalized to multiple scanner specifications due to its capacity to generate object proposals from the unified tensor maps rather than diversified raw scans. We have rigorously evaluated the proposed tensor-shot detector on the publicly available SIXray and GDXray datasets (containing a cumulative of 1,067,381 grayscale and colored baggage X-ray scans). On the SIXray dataset, the proposed framework achieved a mean average precision (mAP) of 0.6457, and on the GDXray dataset, it achieved the precision and F1 score of 0.9441 and 0.9598, respectively. Furthermore, it outperforms state-of-the-art frameworks by 8.03% in terms of mAP, 1.49% in terms of precision, and 0.573% in terms of F1 on the SIXray and GDXray dataset, respectively.

scholarly journals Intuition-Enabled Machine Learning Beats the Competition When Joint Human-Robot Teams Perform Inorganic Chemical Experiments

2019 ◽  
Author(s):  
Leroy Cronin ◽  
Vasilios Duros ◽  
Jonathan Grizou ◽  
Abhishek Sharma ◽  
Hessam Mehr ◽  
...  
Keyword(s):  
Self Assembly ◽  
State Of The Art ◽  
Chemical Space ◽  
Autonomous Systems ◽  
Quality Data ◽  
High Quality Data ◽  
Current State ◽  
Robot Teams ◽  
Substantial Progress ◽  
Inorganic Chemical

<div> <p>Traditionally, chemists have relied on years of training and accumulated experience in order to discover new molecules. But the space of possible molecules so vast, only a limited exploration with the traditional methods can be ever possible. This means that many opportunities for the discovery of interesting phenomena have been missed, and in addition, the inherent variability of these phenomena can make them difficult to control and understand. The current state-of-the-art is moving towards the development of automated and eventually fully autonomous systems coupled with in-line analytics and decision-making algorithms. Yet even these, despite the substantial progress achieved recently, still cannot easily tackle large combinatorial spaces as they are limited by the lack of high-quality data. Herein, we explore the utility of active learning methods for exploring the chemical space by comparing collaboration between human experimenters with an algorithm-based search, against their performance individually to probe the self-assembly and crystallization of the polyoxometalate cluster Na<sub>6</sub>[Mo<sub>120</sub>Ce<sub>6</sub>O<sub>366</sub>H<sub>12</sub>(H<sub>2</sub>O)<sub>78</sub>]·200H<sub>2</sub>O (<b>1</b>). We show that the robot-human teams are able to increase the prediction accuracy to 75.6±1.8%, from 71.8±0.3% with the algorithm alone and 66.3±1.8% from only the human experimenters demonstrating that human-robot teams beat robots or humans working alone.</p> </div>

Sign in / Sign up

Export Citation Format

Share Document