Scalable appearance-based robot navigation

可扩展的基于外观的机器人导航

基本信息

  • 批准号:
    42194-2011
  • 负责人:
  • 金额:
    $ 1.75万
  • 依托单位:
  • 依托单位国家:
    加拿大
  • 项目类别:
    Discovery Grants Program - Individual
  • 财政年份:
    2015
  • 资助国家:
    加拿大
  • 起止时间:
    2015-01-01 至 2016-12-31
  • 项目状态:
    已结题

项目摘要

"As I come down the hallway, heads start popping out of the cubicles and offices, all eyes turning in my direction. Some of my colleagues laugh, some frown. One looks terrified and flees. That's what happens, I suppose, when you show up at the office as a robot". So began a recent article in IEEE Spectrum (September 2010) by Erico Guizzo, to describe his experience of coming to work in his robot avatar. The context of the story defines an intuitive scenario for where and why this research is important and relevant. After all, if one can create a robot that "shows up" for you, a great number of opportunities will open up, including providing companionship and assistance to the elderly or physically handicapped in a household or hospital. But wait, you don't want to be bogged down by your avatar with every tedious and repetitive move, do you? At the heart of this type of autonomous mobile robot is the research of robot SLAM (simultaneous localization and mapping). The research described in this proposal is concerned with a promising approach to SLAM, called appearance-based SLAM (aSLAM). In aSLAM, the robot uses a camera to acquire sensor data and describes places of interest not in terms of 3D landmarks as is done traditionally, but in terms of pictures taken at these places, resulting in simple control algorithms with improved performance. The proposed aSLAM framework departs from the current method of image description based on the so-called bag-of-words (BoW) or vector-quantized visual features, but instead uses carefully selected raw visual features, to address the perceptual aliasing problem of BoW. In addition, our aSLAM framework will be online, through the use of hashing techniques for matching images, rather than tree structures which require offline construction. The research will be conducted in both indoor and outdoor environments, on wheeled robots and a humanoid robot called NAO. With any luck, we may just produce a robot avatar that can work as your electromechanical proxy in the near future!
“当我走下走廊时,头开始从走廊和办公室里冒出来,所有的眼睛都转向我的方向。我的一些同事笑了,一些皱眉。一个看起来很害怕,逃跑了。 我想,当你作为一个机器人出现在办公室时,就会发生这种情况。 Erico Guizzo最近在IEEE Spectrum(2010年9月)上发表了一篇文章,描述了他在机器人化身中工作的经历。 故事的背景定义了一个直观的场景,说明这项研究在哪里以及为什么重要和相关。毕竟,如果一个人可以创造一个机器人,“出现”给你,大量的机会将打开,包括提供陪伴和帮助老人或身体残疾的家庭或医院。 但是,等等,你不想被你的化身陷入每一个乏味和重复的动作,你呢?这类自主式移动的机器人的核心是机器人SLAM(同时定位与地图构建)的研究。 本提案中描述的研究涉及一种有前途的SLAM方法,称为基于外观的SLAM(aSLAM)。 在aSLAM中,机器人使用相机来获取传感器数据,并不像传统上那样根据3D地标来描述感兴趣的地方,而是根据在这些地方拍摄的照片来描述感兴趣的地方,从而产生具有改进性能的简单控制算法。 所提出的aSLAM框架偏离了基于所谓的词袋(BoW)或矢量量化视觉特征的图像描述的当前方法,而是使用精心选择的原始视觉特征来解决BoW的感知混叠问题。此外,我们的aSLAM框架将在线,通过使用哈希技术来匹配图像,而不是需要离线构建的树结构。 这项研究将在室内和室外环境中进行,涉及轮式机器人和名为NAO的人形机器人。 运气好的话,我们可能会在不久的将来制造出一个机器人化身,可以作为你的机电代理!

项目成果

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会议论文数量(0)
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Zhang, Hong其他文献

Caspase-dependent mitochondrial apoptotic pathway is involved in astilbin-mediated cytotoxicity in breast carcinoma cells
  • DOI:
    10.3892/or.2018.6602
  • 发表时间:
    2018-10-01
  • 期刊:
  • 影响因子:
    4.2
  • 作者:
    Sun, Xiaoqi;Zhang, Hong;Zhao, Shujie
  • 通讯作者:
    Zhao, Shujie
Clonal evolution in breast cancer revealed by single nucleus genome sequencing.
  • DOI:
    10.1038/nature13600
  • 发表时间:
    2014-08-14
  • 期刊:
  • 影响因子:
    64.8
  • 作者:
    Wang, Yong;Waters, Jill;Leung, Marco L.;Unruh, Anna;Roh, Whijae;Shi, Xiuqing;Chen, Ken;Scheet, Paul;Vattathil, Selina;Liang, Han;Multani, Asha;Zhang, Hong;Zhao, Rui;Michor, Franziska;Meric-Bernstam, Funda;Navin, Nicholas E.
  • 通讯作者:
    Navin, Nicholas E.
Diverse release behaviors of water-soluble bioactive substances from fibrous membranes prepared by emulsion and suspension electrospinning
乳液和悬浮静电纺丝纤维膜水溶性生物活性物质的多种释放行为
Chronological adhesive cardiac patch for synchronous mechanophysiological monitoring and electrocoupling therapy.
  • DOI:
    10.1038/s41467-023-42008-9
  • 发表时间:
    2023-10-06
  • 期刊:
  • 影响因子:
    16.6
  • 作者:
    Yu, Chaojie;Shi, Mingyue;He, Shaoshuai;Yao, Mengmeng;Sun, Hong;Yue, Zhiwei;Qiu, Yuwei;Liu, Baijun;Liang, Lei;Zhao, Zhongming;Yao, Fanglian;Zhang, Hong;Li, Junjie
  • 通讯作者:
    Li, Junjie
Low Vitamin D Status is Associated with Increased Titers of Thyroid Stimulating Hormone Receptor Antibodies in Graves' Disease
低维生素 D 状态与格雷夫斯病中甲状腺刺激激素受体抗体滴度升高相关
  • DOI:
  • 发表时间:
    2015
  • 期刊:
  • 影响因子:
    4.2
  • 作者:
    Zhang, Hong;Liang, Lingyun;Xie, Zhongjian
  • 通讯作者:
    Xie, Zhongjian

Zhang, Hong的其他文献

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{{ truncateString('Zhang, Hong', 18)}}的其他基金

Developing Robot Autonomy via Invariant Representations
通过不变表示开发机器人自主性
  • 批准号:
    RGPIN-2016-04847
  • 财政年份:
    2021
  • 资助金额:
    $ 1.75万
  • 项目类别:
    Discovery Grants Program - Individual
Developing Robot Autonomy via Invariant Representations
通过不变表示开发机器人自主性
  • 批准号:
    RGPIN-2016-04847
  • 财政年份:
    2020
  • 资助金额:
    $ 1.75万
  • 项目类别:
    Discovery Grants Program - Individual
Developing Robot Autonomy via Invariant Representations
通过不变表示开发机器人自主性
  • 批准号:
    RGPIN-2016-04847
  • 财政年份:
    2019
  • 资助金额:
    $ 1.75万
  • 项目类别:
    Discovery Grants Program - Individual
Oilsand slurry image and video analysis
油砂浆图像和视频分析
  • 批准号:
    492823-2015
  • 财政年份:
    2018
  • 资助金额:
    $ 1.75万
  • 项目类别:
    Collaborative Research and Development Grants
Developing Robot Autonomy via Invariant Representations
通过不变表示开发机器人自主性
  • 批准号:
    RGPIN-2016-04847
  • 财政年份:
    2018
  • 资助金额:
    $ 1.75万
  • 项目类别:
    Discovery Grants Program - Individual
Oilsand slurry image and video analysis
油砂浆图像和视频分析
  • 批准号:
    492823-2015
  • 财政年份:
    2017
  • 资助金额:
    $ 1.75万
  • 项目类别:
    Collaborative Research and Development Grants
Developing Robot Autonomy via Invariant Representations
通过不变表示开发机器人自主性
  • 批准号:
    RGPIN-2016-04847
  • 财政年份:
    2017
  • 资助金额:
    $ 1.75万
  • 项目类别:
    Discovery Grants Program - Individual
Developing Robot Autonomy via Invariant Representations
通过不变表示开发机器人自主性
  • 批准号:
    RGPIN-2016-04847
  • 财政年份:
    2016
  • 资助金额:
    $ 1.75万
  • 项目类别:
    Discovery Grants Program - Individual
Motion Capture System and Mobile Robot Vehicle for Indoor Autonomous Navigation Research
用于室内自主导航研究的运动捕捉系统和移动机器人车辆
  • 批准号:
    RTI-2017-00807
  • 财政年份:
    2016
  • 资助金额:
    $ 1.75万
  • 项目类别:
    Research Tools and Instruments
NSERC/iCORE/Syncrude Industrial Research Chair on Intelligent Sensing Systems
NSERC/iCORE/Syncrude 智能传感系统工业研究主席
  • 批准号:
    306092-2009
  • 财政年份:
    2014
  • 资助金额:
    $ 1.75万
  • 项目类别:
    Industrial Research Chairs

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