Frontiers of Intelligent Autonomous Systems

409 Pages·2013·37.173 MB·English

by  Salvador Domínguez, Eduardo Zalama, Jaime Gómez García-Bermejo, Rainer Worst (auth.), Sukhan Lee, Kwang-Joon Yoon, Jangmyung Lee (eds.)

Studies in Computational Intelligence 466
Editor-in-Chief
Prof.JanuszKacprzyk
SystemsResearchInstitute
PolishAcademyofSciences
ul.Newelska6
01-447Warsaw
Poland
E-mail:[email protected]
Forfurthervolumes:
http://www.springer.com/series/7092
Sukhan Lee, Kwang-Joon Yoon,
and Jangmyung Lee (Eds.)
Frontiers of Intelligent
Autonomous Systems
ABC
Editors
SukhanLee JangmyungLee
SchoolofInformationand SchoolofElectricalEngineering
CommunicationEngineering PusanNationalUniversity
SungkyunkwanUniversity Busan
Kyunggi-Do Korea
Korea
Kwang-JoonYoon
DeptofAerospaceInformation
Engineering
KonkukUniversity
Seoul
Korea
ISSN1860-949X e-ISSN1860-9503
ISBN978-3-642-35484-7 e-ISBN978-3-642-35485-4
DOI10.1007/978-3-642-35485-4
SpringerHeidelbergNewYorkDordrechtLondon
LibraryofCongressControlNumber:2012953655
(cid:2)c Springer-VerlagBerlinHeidelberg2013
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Preface
Nowadays,arapidyetfullscaleofconvergenceamongcomputation,controlandcom-
munication is underway, with humans and things being ever more in integration and
interaction toward their maximum synergy.This on-going convergenceis to result in
variousscalesofdistributedcyberphysicalsystemsimplemented,drivingafundamen-
talchangein the waywe live witha new generationof transportation,healthcare,ed-
ucation,manufacturing,business,security,energy/environmentmanagementaswellas
domestic/personalservice,tonameonlyseveral.Theessenceoftechnologiespursued
bytheaforementionedconvergenceisbestrepresentedbythefollowingtwokeywords:
intelligenceandautonomy,astheyarekeyenablersforsystems,machines,robotsand
toolstodelivertheirultimateservicestohumanundercyberphysicalintegration.This
volume entitled, “Frontiers of Intelligent Autonomous Systems”, aims at providing
readerswiththemostrecentprogressonintelligentautonomoussystems,withitspar-
ticular emphasison intelligentautonomousground,aerial and underwatervehiclesas
wellasservicerobotsforhomeandhealthcareunderthecontextoftheaforementioned
convergence.Asaneditionofthepapersselectedfromthe12th InternationalConfer-
ence on Intelligent Autonomous Systems (IAS-12), held in Jeju, Korea, June 26–29,
2012, we chose 35 papers out of the 202 papers presented at IAS-12 and requested
them to be undergonethoroughrevision and extensionto be includedin this volume.
The 35 contributionsto this volumewere then organizedinto three chapters:Chapter
1 is dedicated to autonomous navigation and mobile manipulation, Chapter 2 to un-
mannedaerialand underwatervehiclesand Chapter 3 to service robotsfor home and
healthcare.Tohelpreaderseasilyaccessthisvolume,eachchapterstartswithachap-
tersummaryintroducedbyoneoftheeditors:Chapter1bySukhanLee,Chapter2by
Kwang-JoonYoonandChapter3byJangmyungLee.Itisourwishastheeditorsofthis
volumethatreadersfindthisvolumestimulatingandresourceful.Finally,theeditorsof
thisvolumewouldliketothankSpringerforundertakingthetimelypublicationofthis
volume.
SukhanLee
Kwang-JoonYoon
JangmyungLee
Contents
Chapter I:Autonomous NavigationandMobileManipulation
Fast6DOdometryBasedonVisualFeaturesandDepth ................. 5
SalvadorDom´ınguez,EduardoZalama,Jaime Go´mezGarc´ıa-Bermejo,
RainerWorst,SvenBehnke
KinectEnabledMonteCarloLocalisationforaRoboticWheelchair....... 17
TheodorosTheodoridis,HuoshengHu,KlausMcDonald-Maier,DongbingGu
TopologicalMappingwithImageSequencePartitioning ................. 29
HemanthKorrapati,JonathanCourbon,YoucefMezouar
VisualMemoryUpdateforLife-LongMobileRobotNavigation........... 43
JonathanCourbon,HemanthKorrapati,YoucefMezouar
ASoftwareArchitectureforRGB-DPeopleTrackingBasedonROS
FrameworkforaMobileRobot...................................... 53
Matteo Munaro, Filippo Basso, Stefano Michieletto, Enrico Pagello,
EmanueleMenegatti
DrivableRoadModelingBasedonMultilayeredLiDARandVision ....... 69
SukhanLee,YongjinPark
OmnidirectionalVisionforIndoorSpatialLayoutRecovery.............. 95
JasonOmedes,G.Lo´pez-Nicola´s,J.J.Guerrero
DevelopmentandExperiencesofanAutonomousVehicleforHigh-Speed
NavigationandObstacleAvoidance .................................. 105
Jee-HwanRyu,DmitriyOgay,SergeyBulavintsev,HyukKim,Jang-SikPark
RoboEarthActionRecipeExecution ................................. 117
Daniel Di Marco, Moritz Tenorth, Kai Ha¨ussermann, Oliver Zweigle,
PaulLevi
VIII Contents
ExchangingAction-RelatedInformationamongAutonomousRobots ...... 127
MoritzTenorth,MichaelBeetz
New Motor Primitives through Graph Search, Interpolation and
Generalization.................................................... 137
MihaDenisˇa,AlesˇUde
ModelBasedVisualServoingTasks withanAutonomousHumanoid
Robot ........................................................... 149
AmineAbouMoughlbay,EnricCervera,PhilippeMartinet
Chapter II:Unmanned Aerialand Underwater Vehicles
MAVwork:AFrameworkforUnifiedInterfacingbetweenMicroAerial
VehiclesandVisualControllers...................................... 165
IgnacioMellado-Bataller,Jesu´s Pestana, Miguel A. Olivares-Mendez,
PascualCampoy,LuisMejias
SmartFilterDesignfortheLocalizationofRoboticFishUsingMEMS
Accelerometer .................................................... 181
TaeSukYoo,SangCheolLee,SungKyungHong,YoungSunRyuh
ViewPlanningofaMulti-rotorUnmannedAirVehicleforTreeModeling
UsingSilhouette-BasedShapeEstimation ............................. 193
Dae-YeonWon,AliHaydarGo¨ktog˘an,SalahSukkarieh,Min-JeaTahk
DesignandFieldTestingofWaterQualitySensorModulesDesignedfor
Round-the-ClockOperationsfromBuoysandBiomimeticUnderwater
Robots .......................................................... 209
JoongkiPark,JuchanSohn,SunghoonKim,JonghyunPark
AnalysisontheRoboticFishPropulsionforVariousCaudalFinShapes.... 217
DongwonYun,JinhoKyung,ChanhumPark
Developmentofa3-DOFFishRobot‘ICHTHUSV5’ ................... 225
Gi-HunYang,HyunjinLee,YoungSunRyuh
Polar HistogramBased Sampling Method for AutonomousVehicle
MotionPlanning .................................................. 235
DmitriyOgay,Jee-HwanRyu,Eun-GyungKim
GazeControl-BasedNavigationArchitectureforHumanoidRobotsina
DynamicEnvironment ............................................. 243
Jeong-KiYoo,Jong-HwanKim
ComparisonbetweenPhotoInterrupterandGiantMagnetoresistive
SensorforAutoFocusingSystemintheDigitalCamera ................. 253
SakuraSikander,HanNamLee,Hee-JeKim
Contents IX
NaturalTerrainDetectionandSLAMUsingLIDARforanUGV ......... 263
KukCho,SeungHoBaeg,SangdeokPark
IndoorFlightTestingandControllerDesignofBioinspiredOrnithopter ... 277
Jun-SeongLee,Jae-HungHan
EffectofPassiveBodyDeformationofHawkmothonFlightStability ...... 287
RyusukeNoda,MasateruMaeda,HaoLiu
Chapter III:Service Robots forHomeandHealthcare
MechanismofaLearningRobotManipulatorforLaparoscopicSurgical
Training ......................................................... 297
Tao Yang, JiangLiu, Weimin Huang,LiangjingYang, Chee KongChui,
MarceloH.AngJr.,YiSu,StephenK.Y.Chang
Learning Probabilistic Decision Making by a Service Robot with
GeneralizationofUserDemonstrationsandInteractiveRefinement ....... 309
Sven R. Schmidt-Rohr,FabianRomahn,Pascal Meissner, RainerJa¨kel,
Ru¨digerDillmann
ACaseStudyofSafetyintheDesignofSurgicalRobots:TheARAKNES
Platform......................................................... 323
L.AlonsoSanchez,M.Q.Le,K.Rabenorosoa,C.Liu,N.Zemiti,P.Poignet,
E.Dombre,A.Menciassi,P.Dario
Design of Master Console Haptic Handle for Robot Assisted
Laparoscopy ..................................................... 333
ChiYenKim,ByeongHoKang,MinCheolLee,SungMinYoon
FusionofInertialMeasurementsandVisionFeedbackforMicrosurgery ... 341
YanNaingAye,SuZhao,ChengYapShee,WeiTechAng
ANewConceptfora“VaginalHysterectomy”Robot.................... 351
KovitKhampitak,WathanyuNeadsanga,SirivitTaechajedcadarung-sri,
ThantakornPongpimon
ClassificationofModeling forVersatileSimulationGoalsinRobotic
Surgery.......................................................... 357
StefanJo¨rg,RainerKonietschke,JulianKlodmann
RoleofHolographicDisplaysandStereovisionDisplaysinPatientSafety
andRoboticSurgery............................................... 369
AliSengu¨l,AttilaBarsi,DavidRibeiro,HannesBleuler
A MethodologicalFramework for the Definition of Patient Safety
MeasuresinRoboticSurgery:TheExperienceofSAFROSProject........ 381
Angelica Morandi, Monica Verga, Elettra Oleari, Lorenza Gasperotti,
PaoloFiorini
X Contents
System Concept for Collision-Free Robot Assisted Surgery Using
Real-TimeSensing ................................................ 391
Jo¨rgRaczkowsky,PhilipNicolai,Bjo¨rnHein,HeinzWo¨rn
Human-RobotInteraction-BasedIntentionSharingofAssistantRobot
forElderlyPeople ................................................. 401
Jeong-YeanYang,Oh-HunKwon,Chan-SoonLim,Dong-SooKwon
AuthorIndex ........................................................ 411
Chapter I
Autonomous Navigation and Mobile Manipulation
Introduction by Sukhan Lee

Chapter 1 introduces the recent advancement of autonomous navigation and mobile
manipulation for mobile robots and intelligent vehicles. For autonomous navigation,
the chapter features the application of an affordable RGB-D camera to 6D visual
odometry and vehicle localization, the construction of an appearance based topologi-
cal map for a fast and accurate localization, the update of a visual memory for life-
long memory based visual navigation, a robust multi-people tracking using an RGB-D
sensor, the recognition of a drivable road with LiDAR and vision, the recovery of
spatial layout of a scene from a collection of lines obtained by an omnidirectional
vision, and an autonomous vehicle designed for a high speed on/off-road navigation
while avoiding diverse obstacles. For mobile manipulation, the chapter features a task
execution engine for the RoboEarth as a methodology for storing and reusing task
plans on a global accessible database, a knowledge representation and inference for
the web-based exchange of information between robots via the Robot Earth, a metho-
dology for discovering novel movement primitives in a database of example trajecto-
ries, and an approach of self- localization and manipulation by a humanoid robot
based on a closed-loop integration of real-time visual servo. A more detailed introduc-
tion of the above listed features of Chapter 1 is followed:
There are 8 papers selected for inclusion for autonomous navigation: The paper en-
titled, “Fast 6D Odometry Based on Visual Features and Depth,” by Salvador Domin-
guez, Eduardo Zalama, Jaime Gomez Garcia-Bermejo, Rainer Worst and Sven
Behnke presents an efficient and reliable 6D visual odometry based on an affordable
RGB-D camera, MS Kinect Sensor, where a reliable set of, as well as a limited num-
ber of, 3D features obtained by combining 2D corner features with their measured
depths and filtering out unreliable features are tracked to accurately keep track of the
camera pose. While, the paper entitled, “Kinect Enabled Monte Carlo Localization for
a Robotic Wheelchair,” by Theodoros Theodoridis, Huosheng Hu, Klaus McDonald-
Maier and Dongbing Gu reports the efficiency of an RGB-D camera, MS Kinect Sen-
sor, for carrying out the particle filter based Monte Carlo localization of a robotic
wheel chair, where a 6x1 region locator descriptor is proposed for the observation
associated with the particle filter. The 6x1 region locator descriptor is obtained from
the depth map of the Kinect sensor first by locally approximating the depth map into a
6x6 regional depth matrix, then by constructing a 6X1 region locator descriptor taking
the minimum from each column of the depth matrix. In the paper entitled, “Topologi-
cal Mapping with Image Sequence Partitioning,” the authors, Hemanth Korrapati,
Jonathan Courbon and Youcef Mezouar, address a fast and accurate robot localization
2 S. Lee
in a large scale of navigation environment. To this end, the authors propose a frame-
work of building sparse topological maps based on the appearance based partitioning
of a sequence of images into a group of nodes in similar appearances, such that it can
facilitate a coarse loop closure at the node level and a finer loop closure at the image
level. On the other hand, in the paper entitled, “Visual Memory Update For Life-Long
Mobile Robot Navigation,” the authors, Jonathan Courbon, Hemanth Korrapati and
Youcef Mezouar, deal with the problem of updating a visual memory, constructed for
vehicle localization based on memory matching, in order to cope with the constant
change in visual appearance in time, where they present a method of updating visual
memory during navigation based on the concept of short-term and long-term memo-
ries. The paper entitled, “Fast and Robust Multi-People Tracking from RGB-D Data
for a Mobile Robot,” by Filippo Basso, Matteo Munaro, Stefano Michieletto, Enrico
Pagello and Emanuele Menegatti proposes a fast and robust multi-people tracking
algorithm for mobile platforms equipped with an RGB-D camera, MS Kinect Sensor.
Their approach features a combination of efficient point cloud depth-based clustering
and HOG-like classification not only for initializing person tracking but also for car-
rying out person classification with the online learning of person ID, allowing multi-
people tracking even after a full occlusion. The paper entitled, “Drivable Road Mod-
eling Based ony Multilayered LiDAR and Vision,” by Sukhan Lee and Yongjin Park,
presents the real-time modeling of a drivable road with a 4-layer LiDAR and a vision
camera. A drivable road is modeled in real-time along the vehicle movement as an
articulated form of multiple rectangular plates linked serially by rotational joints. By
fusing the road surfaces and curbs identified by the 4-layer LiDAR with the lanes and
crossings recognized by the vision camera, the poses associated with individual
plates, as well as the obstacles located on the drivable road, if any, are identified. The
paper entitled, “Omnidirectional Vision for Indoor Spatial Layout Recovery,” by J.
Omedes, G. Lopez-Nicolas and J. J. Guerrero deals with the problem of recovering
the spatial layout of a scene from a collection of lines extracted from a single indoor
image obtained by an omnidirectional vision. Based on the vanishing points and lines
extracted from omnidirectional images, the authors present a novel approach for spa-
tial layout recovery by taking a set of geometrical constraints into consideration, al-
lowing to detect an arbitrary number of, possibly occluded, floor-wall boundaries.
Finally, the paper entitled, “Development of an Autonomous Vehicle for High-Speed
Navigation and Obstacle Avoidance,” by Jee-Hwan Ryu, Dmitriy Ogay, Sergey Bula-
vintsev, Hyuk Kim, and Jang-Sik Park introduces the autonomous vehicle, called
Pharos, developed with the capability of up to 60 Km/h of high-speed on/off-road
driving, while avoiding diverse patterns of obstacles.
For mobile manipulation, 4 papers are selected for inclusion: The paper entitled,
“RoboEarth Action Recipe Execution,” by Daniel Di Marco, Moritz Tenorth, Kai
Haussermann, Oliver Zweigle and Paul Levi presents a method of storing and reusing
task plans on a global accessible database by robots, allowing them to be able to self-
learn sophisticated services, independent of their platforms and application scenarios.
The paper describes a task execution engine for RoboEarth and demonstrates its abili-
ty to execute tasks in a flexible and reliable way. The paper entitled, “Exchanging
Action-Related Information among Autonomous Robots,” by Moritz Tenorth and