Results 1 - 10
of
22
Local multi-resolution representation for 6D motion estimation and mapping with a continuously rotating 3D laser scanner
- In Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA
, 2014
"... Abstract — Micro aerial vehicles (MAV) pose a challenge in designing sensory systems and algorithms due to their size and weight constraints and limited computing power. We present an efficient 3D multi-resolution map that we use to aggregate measurements from a lightweight continuously rotating las ..."
Abstract
-
Cited by 13 (11 self)
- Add to MetaCart
(Show Context)
Abstract — Micro aerial vehicles (MAV) pose a challenge in designing sensory systems and algorithms due to their size and weight constraints and limited computing power. We present an efficient 3D multi-resolution map that we use to aggregate measurements from a lightweight continuously rotating laser scanner. We estimate the robot’s motion by means of visual odometry and scan registration, aligning consecutive 3D scans with an incrementally built map. By using local multi-resolution, we gain computational ef-ficiency by having a high resolution in the near vicinity of the robot and a lower resolution with increasing distance from the robot, which correlates with the sensor’s characteristics in relative distance accuracy and measurement density. Compared to uniform grids, local multi-resolution leads to the use of fewer grid cells without loosing information and consequently results in lower computational costs. We efficiently and accurately register new 3D scans with the map in order to estimate the motion of the MAV and update the map in-flight. In experiments, we demonstrate superior accuracy and efficiency of our registration approach compared to state-of-the-art methods such as GICP. Our approach builds an accurate 3D obstacle map and estimates the vehicle’s trajectory in real-time. I.
Multi-layered mapping and navigation for autonomous micro aerial vehicles
- Journal of Field Robotics
, 2015
"... Micro aerial vehicles, such as multirotors, are particularly well suited for the autonomous monitoring, inspection, and surveillance of buildings, e.g., for maintenance or disaster man-agement. Key prerequisites for the fully autonomous operation of micro aerial vehicles are real-time obstacle detec ..."
Abstract
-
Cited by 5 (5 self)
- Add to MetaCart
(Show Context)
Micro aerial vehicles, such as multirotors, are particularly well suited for the autonomous monitoring, inspection, and surveillance of buildings, e.g., for maintenance or disaster man-agement. Key prerequisites for the fully autonomous operation of micro aerial vehicles are real-time obstacle detection and planning of collision-free trajectories. In this article, we propose a complete system with a multimodal sensor setup for omnidirectional obstacle per-ception consisting of a 3D laser scanner, two stereo camera pairs, and ultrasonic distance sensors. Detected obstacles are aggregated in egocentric local multiresolution grid maps. Local maps are efficiently merged in order to simultaneously build global maps of the en-vironment and localize in these. For autonomous navigation, we generate trajectories in a multi-layered approach: from mission planning over global and local trajectory planning to reactive obstacle avoidance. We evaluate our approach and the involved components in simulation and with the real autonomous micro aerial vehicle. Finally, we present the results of a complete mission for autonomously mapping a building and its surroundings. 1
A State of the Art Report on Kinect Sensor Setups in Computer Vision
"... Abstract. During the last three years after the launch of the Microsoft Kinect R ○ in the end-consumer market we have become witnesses of a small revolution in computer vision research towards the use of a standardized consumer-grade RGBD sensor for scene content retrieval. Beside classical localiza ..."
Abstract
-
Cited by 4 (0 self)
- Add to MetaCart
(Show Context)
Abstract. During the last three years after the launch of the Microsoft Kinect R ○ in the end-consumer market we have become witnesses of a small revolution in computer vision research towards the use of a standardized consumer-grade RGBD sensor for scene content retrieval. Beside classical localization and motion capturing tasks the Kinect has successfully been employed for the reconstruction of opaque and transparent objects. This report gives a comprehensive overview over the main publications using the Microsoft Kinect out of its original context as a decision-forest based motion-capturing tool. 1
Local Multi-Resolution Surfel Grids for MAV Motion Estimation and 3D Mapping
"... Abstract. For autonomous navigation in restricted environments, mi-cro aerial vehicles (MAV) need to create 3D maps of their surroundings and must track their motion within these maps. In this paper, we propose an approach to simultaneous localization and mapping that is based on the measurements of ..."
Abstract
-
Cited by 4 (3 self)
- Add to MetaCart
(Show Context)
Abstract. For autonomous navigation in restricted environments, mi-cro aerial vehicles (MAV) need to create 3D maps of their surroundings and must track their motion within these maps. In this paper, we propose an approach to simultaneous localization and mapping that is based on the measurements of a lightweight 3D laser-range finder. We aggregate laser-range measurements by registering sparse 3D scans with a local multiresolution surfel map that has high resolution in the vicinity of the MAV and coarser resolutions with increasing distance, which corre-sponds well to measurement density and accuracy of our sensor. Modeling measurement distributions within voxels by surface elements allows for efficient and accurate registration of 3D scans with the local map. The incrementally built local dense 3D maps of nearby key poses are regis-tered globally by graph optimization. This yields a globally consistent dense 3D map of the environment. Continuous registration of local maps with the global map allows for tracking the 6D MAV pose in real time. In experiments, we demonstrate accuracy and efficiency of our approach. 1
S.: Multi-resolution surfel mapping and realtime pose tracking using a continuously rotating 2D laser scanner
- In: Proc. of 11th IEEE Int. Symposium on Safety, Security, and Rescue Robotics (SSRR) (2013
"... Abstract—Mapping and real-time localization are prereq-uisites for autonomous robot navigation. They also facilitate situation awareness of remote operators in exploration or rescue missions. In this paper, we propose methods for efficient 3D mapping of environments and for tracking in real-time the ..."
Abstract
-
Cited by 4 (3 self)
- Add to MetaCart
(Show Context)
Abstract—Mapping and real-time localization are prereq-uisites for autonomous robot navigation. They also facilitate situation awareness of remote operators in exploration or rescue missions. In this paper, we propose methods for efficient 3D mapping of environments and for tracking in real-time the 6D movement of autonomous robots using a continuously rotating 3D laser scanner. Multi-resolution surfel representations allow for compact storage and efficient registration of local maps. Real-time pose tracking is performed by a particle filter based on individual laser scan lines. We evaluate our approach using both data generated in simulation and measurements from challenging real environments. I.
Efficient Deformable Registration of Multi-Resolution Surfel Maps for Object Manipulation Skill Transfer
"... Abstract — Endowing mobile manipulation robots with skills to use objects and tools often involves the programming or training on specific object instances. To apply this knowledge to novel instances from the same class of objects, a robot requires generalization capabilities for control as well as ..."
Abstract
-
Cited by 3 (3 self)
- Add to MetaCart
(Show Context)
Abstract — Endowing mobile manipulation robots with skills to use objects and tools often involves the programming or training on specific object instances. To apply this knowledge to novel instances from the same class of objects, a robot requires generalization capabilities for control as well as perception. In this paper, we propose an efficient approach to deformable registration of RGB-D images that enables robots to transfer skills between object instances. Our method provides a dense deformation field between the current image and an object model which allows for estimating local rigid transformations on the object’s surface. Since we define grasp and motion strategies as poses and trajectories with respect to the object models, these strategies can be transferred to novel instances through local transformations derived from the deformation field. In experiments, we demonstrate the accuracy and run-time efficiency of our registration method. We also report on the use of our skill transfer approach in a public demonstration. I.
Real-time large scale dense RGB-D SLAM with volumetric fusion
"... We present a new SLAM system capable of producing high quality globally consistent surface reconstructions over hundreds of metres in real-time with only a low-cost commodity RGB-D sensor. By using a fused volumetric surface reconstruction we achieve a much higher quality map over what would be achi ..."
Abstract
-
Cited by 2 (1 self)
- Add to MetaCart
We present a new SLAM system capable of producing high quality globally consistent surface reconstructions over hundreds of metres in real-time with only a low-cost commodity RGB-D sensor. By using a fused volumetric surface reconstruction we achieve a much higher quality map over what would be achieved using raw RGB-D point clouds. In this paper we highlight three key techniques associated with applying a volumetric fusion-based mapping system to the SLAM problem in real-time. First, the use of a GPU-based 3D cyclical buffer trick to efficiently extend dense every frame volumetric fusion of depth maps to function over an unbounded spatial region. Second, overcoming camera pose estimation limitations in a wide variety of environments by combining both dense geometric and photometric camera pose constraints. Third, efficiently updating the dense map according to place recognition and subsequent loop closure constraints by the use of an “as-rigid-as-possible ” space deformation. We present results on a wide variety of aspects of the system and show through evaluation on de facto standard RGB-D benchmarks that our system performs strongly in terms of trajectory estimation, map quality and computational performance in comparison to other state-of-the-art systems.
Increasing Flexibility of Mobile Manipulation and Intuitive Human-Robot Interaction in
"... { stueckler droeschel graeve holz schreiber schwarz} @ ais.uni-bonn.de { topalido behnke} @ cs.uni-bonn.de ..."
Abstract
-
Cited by 2 (2 self)
- Add to MetaCart
(Show Context)
{ stueckler droeschel graeve holz schreiber schwarz} @ ais.uni-bonn.de { topalido behnke} @ cs.uni-bonn.de
Adaptive Tool-Use Strategies for Anthropomorphic Service Robots
"... Abstract — Tool-use is one of the most complex object manip-ulation abilities of humans and robots. In this paper, we present strategies for implementing tool-use with anthropomorphic service robots. Based on the observation that human tools are specifically designed for the human body, we augment t ..."
Abstract
-
Cited by 2 (1 self)
- Add to MetaCart
(Show Context)
Abstract — Tool-use is one of the most complex object manip-ulation abilities of humans and robots. In this paper, we present strategies for implementing tool-use with anthropomorphic service robots. Based on the observation that human tools are specifically designed for the human body, we augment tools with handles that adapt the tool to the specifics of our robot. We develop methods for perceiving the tools and their end-effectors in RGB-D images. We also describe our control approaches used in our tool-use examples. We demonstrate tool-use by our service robot publicly at
Joint Detection and Pose Tracking of Multi-Resolution Surfel Models in RGB-D
"... Abstract — We propose a particle filter framework for the joint detection, pose estimation, and real-time tracking of objects in RGB-D video. We do not rely on the availability of CAD models, but employ multi-resolution surfel maps as a concise representation of object shape and texture that is acqu ..."
Abstract
-
Cited by 1 (0 self)
- Add to MetaCart
(Show Context)
Abstract — We propose a particle filter framework for the joint detection, pose estimation, and real-time tracking of objects in RGB-D video. We do not rely on the availability of CAD models, but employ multi-resolution surfel maps as a concise representation of object shape and texture that is acquired through SLAM. We propose to initialize the particle belief for tracking with pose votes cast from matching colored surfel-pair features at multiple resolutions. Multi-hypothesis tracking then finds the most consistent track over time. We utilize efficient registration of RGB-D images to the model to obtain improved proposals for particle filtering which greatly enhances tracking accuracy. We evaluate our approach on a publicly available RGB-D object tracking dataset, and show high rates of detection and good tracking performance with respect to various speeds of camera motion and occlusions. I.
