Heuristics-enhanced dead-reckoning (HEDR) for accurate position tracking of tele-operated UGVs

Borrell, Adam; Miller, Russell L.; Thomas, D.W.P.

doi:10.1117/12.850301

Cited by 5 publications

(5 citation statements)

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“…For navigation in an active way, an UGV is usually equipped with a 'controllable' vision head, e.g. a stereo camera on a pan/tilt mount (Banish et al 2010;Borenstein et al 2010). Kristensen presented the problem of autonomous navigation in partly known environments (Kristensen 1997).…”

Section: Navigation Path Planning and Explorationmentioning

confidence: 99%

Active vision in robotic systems: A survey of recent developments

Chen

Kwok

2011

The International Journal of Robotics Research

346

201

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In this paper we provide a broad survey of developments in active vision in robotic applications over the last 15 years. With increasing demand for robotic automation, research in this area has received much attention. Among the many factors that can be attributed to a high-performance robotic system, the planned sensing or acquisition of perceptions on the operating environment is a crucial component. The aim of sensor planning is to determine the pose and settings of vision sensors for undertaking a vision-based task that usually requires obtaining multiple views of the object to be manipulated. Planning for robot vision is a complex problem for an active system due to its sensing uncertainty and environmental uncertainty. This paper describes such problems arising from many applications, e.g. object recognition and modeling, site reconstruction and inspection, surveillance, tracking and search, as well as robotic manipulation and assembly, localization and mapping, navigation and exploration. A bundle of solutions and methods have been proposed to solve these problems in the past. They are summarized in this review while enabling readers to easily refer solution methods for practical applications. Representative contributions, their evaluations, analyses, and future research trends are also addressed in an abstract level.

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Section: Navigation Path Planning and Explorationmentioning

confidence: 99%

Active vision in robotic systems: A survey of recent developments

Chen

Kwok

2011

The International Journal of Robotics Research

346

201

View full text Add to dashboard Cite

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“…This discussion was presented originally in our two earlier conference papers and is duplicated here for completeness (Borenstein et al, 2010a), (Borenstein et al, 2010b). New in this present paper is the additional discussion of optional refinements, so-called attenuators, in Section 0.…”

Section: H E U R I S T I C D R I F T E L I M I N At I O Nmentioning

confidence: 99%

“…TelOpTrak corrects gyro drift by exploiting the structured nature of most buildings, but without having to directly sense building features. This paper explains the TelOpTrak method and provides comprehensive experimental results.Earlier versions of this paper (Borenstein et al, 2010a), (Borenstein et al, 2010b) were presented at two conferences. The main difference between the earlier conference papers and the present manuscript is that the latter is more comprehensive, more up-to-date, and it presents an entirely new set of experimental results, including results of a live demonstration at the 2010 Robotics Rodeo event at Ft. Benning, USA.…”

mentioning

confidence: 99%

“…Earlier versions of this paper (Borenstein et al, 2010a), (Borenstein et al, 2010b) were presented at two conferences. The main difference between the earlier conference papers and the present manuscript is that the latter is more comprehensive, more up-to-date, and it presents an entirely new set of experimental results, including results of a live demonstration at the 2010 Robotics Rodeo event at Ft. Benning, USA.…”

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confidence: 99%

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TelOpTrak: Heuristics-enhanced Indoor Location Tracking for Tele-operated Robots

Miller

Borrell

2012

J. Navigation

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With most tele-operated robots the operator's only feedback is the view from an onboard camera. Live video lets the operator observe the robot's immediate surroundings but does not establish the orientation or whereabouts of the robot in its environment. An additional plot of the robot's trajectory would be helpful for the operator and is sometimes provided, based on GPS. However, indoors where GPS is unavailable, tracking has to rely on dead-reckoning, which is too inaccurate to be useful. Our proposed TelOpTrak method corrects deadreckoning errors even when only odometry and a low-cost (and thus, high-drift) MEMS-class gyro are available on the robot. TelOpTrak corrects gyro drift by exploiting the structured nature of most buildings, but without having to directly sense building features. This paper explains the TelOpTrak method and provides comprehensive experimental results.Earlier versions of this paper (Borenstein et al., 2010a), (Borenstein et al., 2010b) were presented at two conferences. The main difference between the earlier conference papers and the present manuscript is that the latter is more comprehensive, more up-to-date, and it presents an entirely new set of experimental results, including results of a live demonstration at the 2010 Robotics Rodeo event at Ft. Benning, USA. K E Y WO R D S1. Tele-operated.2. Location. 3. Heuristic.

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“…The robot travels along these walls during most of the time. The analysis of the output signal can help to the minicomputer to suggest when the robot travels along one of these leading directions [25]. Thus, we can find absolute directions (defined with respect to no-motion system), instead of the relative directions.…”

Section: In Addition the Case Is Possible That Error Depends On Factmentioning

confidence: 99%

Precision improvement of MEMS gyros for indoor mobile robots with horizontal motion inspired by methods of TRIZ

Shin¹,

Park²,

Song³

et al. 2014

The 9th IEEE International Conference on Nano/Micro Engineered and Molecular Systems (NEMS)

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Heuristics-enhanced dead-reckoning (HEDR) for accurate position tracking of tele-operated UGVs

Cited by 5 publications

References 5 publications

Active vision in robotic systems: A survey of recent developments

Active vision in robotic systems: A survey of recent developments

TelOpTrak: Heuristics-enhanced Indoor Location Tracking for Tele-operated Robots

Precision improvement of MEMS gyros for indoor mobile robots with horizontal motion inspired by methods of TRIZ

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