Abstract This paper presents a calibration algorithm that does not require an artificial target object to precisely estimate rigid‐body transformation between camera and light detection ranging (LIDAR) sensor. The proposed estimates parameters by minimizing cost function evaluates the edge alignment two sensor measurements. In particular, is constructed using projection model‐based many‐to‐many correspondence of edges fully exploit measurements with different densities (dense photometry...

This paper proposes a calibration method that accurately estimates six parameters between the two centers of 2-D light detection and ranging (LIDAR) rotating platform. uses simple plane, to best our knowledge, it is first enable full-degree-of-freedom (DOF) estimation without additional hardware. The key concept behind this decoupling property, in which direction line on plane does not contain 3-DOF translation terms. Based this, cost function for rotation constructed, are estimated. With...

All mobile robots suffer from odometry error. Relative localization has both the systematic and non-systematic errors. However, once a precise system error model its parameters are given, accuracy of can be remarkably improved. Most previous works on this effort focused differential drive with little attention to other types bases. In paper, we analyze sources propose an for synchro robot. We then describe novel procedure accurately estimate derived covariance matrix is general all bases, so...

Remarkable progress in the development of modeling methods for indoor spaces has been made recent years with a focus on reconstruction complex environments, such as multi-room and multi-level buildings. Existing represent structure models combination several sub-spaces, which are constructed by room segmentation or horizontal slicing approach that divide building environments into segments. In this study, we propose an automatic method unique models, including inter-room inter-floor...

Abstract In this paper, a robust algorithm that discriminates various eye motions from the ElectroOculoGram (EOG) signals is proposed. Previous researches use EOG only focused on saccadic or blinks. However, we cover all including double/triple blinks and left/right winks. Furthermore, suggest novel method, which removes noises of EOG, to increase robustness discrimination. The method called “an ideal velocity shape algorithm” compares real with an designed under noise free assumption. This...

Indoor visual localization is significant for various applications such as autonomous robots, augmented reality, and mixed reality. Recent advances in have demonstrated their feasibility large-scale indoor spaces through coarse-to-fine methods that typically employ three steps: image retrieval, pose estimation, selection. However, further research needed to improve the accuracy of localization. We demonstrate limitations previous can be attributed sparsity positions database, which causes...

In this paper, we propose an algorithmic compass that yields the heading information of a mobile robot using vanishing point in indoor environments: VPass. With VPass, loop-closing effect (which is significant reduction errors by revisiting known place through loop) can be achieved even for loop-less environment. From implementation view, VPass useful because it appended upon any existing navigation algorithms. Experimental results show accurate angle environments paths with lengths around 200 m.

In this article, a point-wise normal estimation network for three-dimensional point cloud data called NormNet is proposed. We propose the multiscale K-nearest neighbor convolution module strengthened local feature extraction. With and PointNet-like architecture, we achieved hybrid of three features: global feature, semantic from segmentation network, module. Those features, by mutually supporting each other, not only increase performance but also enable to be robust under severe noise...

Planarity of checkerboards is a widely used feature for extrinsic calibration camera and LiDAR. In this study, we propose two analytically derived covariances (i) plane parameters (ii) measurement, precise These allow the graded approach in planar correspondences by exploiting uncertainty set given features calibration. To construct parameter covariance, employ error model 3D corner points formulated errors. Next, measurement covariance directly from regions point clouds using out-of-plane...

In this paper, a dependable humanoid navigation system is proposed by considering many difficulties in based on bipedal locomotion an uncertain environment. particular, we propose layered architecture to resolve complicated problems through hierarchical manner. Within the software architecture, walking path planner, footstep and pattern generator are integrated hierarchy create reliable motion that overcomes foot slippage localization sensor noise. Each layer designed overcome originating...

Purpose – The authors aim to propose a novel plane extraction algorithm for geometric 3D indoor mapping with range scan data. Design/methodology/approach proposed method utilizes divide-and-conquer step efficiently handle huge amounts of point clouds not in whole group, but forms separate sub-groups similar parameters. This adopts robust principal component analysis enhance estimation accuracy. Findings Experimental results verify that the only shows enhanced performance extraction, also...

In indoor environments, there exists a few distinctive spaces' features (ISFs). However, up to our knowledge, is no algorithm that fully utilizes ISF for accurate 3-D SLAM. this letter, we suggest sensor system efficiently captures and propose an framework accurately estimates sensor's poses by utilizing ISF. Experiments conducted in six representative spaces show the accuracy of proposed method better than previous method. Furthermore, shows robust performances sense set adjusted parameters...

In a group of general geometric primitives, plane-based features are widely used for indoor localization because their robustness against noises. However, lack linearly independent planes may lead to non-trivial estimation. This in return can cause degenerate state from which all states cannot be estimated. To solve this problem, paper first proposed degeneracy detection method. A compensation method that could fix orientations by projecting an inertial measurement unit's (IMU) information...

In this paper, we propose a path planner for robotic vacuum cleaner (RVC). the design of planner, consider two main issues: (1) human-friendly generation and (2) low computational load. First, analyze how human move suggest hypothesis that navigate in way minimizes sum muscle brain energy. By imitating path, human- friendly planner. Also, designed requires amount computations which not only extends battery running time but also decreases hardware cost RVC. Experimental results show proposed...

In this paper, a flexible enveloping grasper is proposed for pick-and-place tasks with low manipulation and task planning complexity practical applications. The has two main characteristics: self-adaptivity flexibility. Self-adaptivity means that the can grip an object in self-adaptive way such various process complexities (e.g., sensing, force control, sensor-motor coordination) are significantly reduced. By flexibility, we mean that, by using material, stable be implemented to cause...

Although there have been many researches on mobile robot localization, it is still difficult to obtain reliable localization performance in a human co-existing real environment. Reliability of highly dependent upon developer's experiences because uncertainty caused by variety reasons. We developed range sensor based integrated scheme for various indoor service robots. Through the experience, we found out that are several significant experimental issues. In this paper, provide useful...