ROBOT2022: fifth Iberian robotics conference . Volume 1, : advances in robotics / / Danilo Tardioli [and four others], editors

• Pubblicazione: Cham, Switzerland : , : Springer, , [2023]; ©2023
• Descrizione fisica: 1 online resource (616 pages)
• Disciplina: 629.892
• Soggetto topico: Robotics
• Persona (resp. second.): TardioliDanilo
• Nota di contenuto: Intro -- Preface -- Organization -- Local Organizing Committee -- Program Committee Manager -- Publicity Chairs -- Program Committee -- Additional Reviewers -- Contents -- ROBOT2022 General Track -- Obtaining 3D Dense Thermal Models of Interiors of Buildings Using Mobile Robots -- 1 Introduction: Thermal Point Clouds of Buildings -- 2 General Methodology -- 3 Planning and Data Acquisition -- 3.1 Thermal Point Clouds -- 3.2 Data Acquisition Routine -- 4 Data Processing -- 5 Experimentation -- 5.1 MoPAD2 Platform -- 5.2 Navigation and Data Acquisition Planning -- 5.3 Case Study -- 6 Conclusions -- References -- Data Association Tools for Target Identification in Distributed Multi-target Tracking Systems -- 1 Introduction -- 2 Related Work -- 2.1 Event-Triggered Systems -- 2.2 Data Association in Multi-target Tracking Systems -- 3 Data Association Tools -- 3.1 Event-Triggered Communication Mechanism -- 3.2 Gallery Construction -- 4 Integration in a Multi-camera Distributed Tracking System -- 4.1 Target Model -- 4.2 Measurements -- 4.3 Metrics -- 5 Experiments -- 5.1 Experimental Setup -- 5.2 Ablation Study -- 5.3 Tracking in the Wild -- 6 Conclusions -- References -- Classification of Humans Social Relations Within Urban Areas -- 1 Introduction -- 2 Related Work -- 3 Classification of Humans' Relationship -- 3.1 Database Description -- 3.2 Neural Networks (NN) -- 3.3 Recurrent Neural Network (RNN) -- 4 Results -- 4.1 Results of NNs Models -- 4.2 Results of RNNs Models -- 4.3 Results Analysis -- 4.4 Sighting Extracted From the Implementation of the Methods -- 4.5 Classification into Two Categories -- 4.6 Comparison With State-of-Art-method -- 5 Discussion of Contributions for HRI and Its Applicability -- 6 Conclusions -- References -- Tree Trunks Cross-Platform Detection Using Deep Learning Strategies for Forestry Operations -- 1 Introduction. ; 2 Deep Learning-Based Object Detection Methods -- 3 Materials and Methods -- 3.1 Footage Forests and Image Acquisition Methodologies -- 3.2 Dataset Annotation and Augmentation -- 3.3 Object Detection Models Configuration, Training and Conversion -- 3.4 Trunk Detection Evaluation -- 4 Results and Discussion -- 5 Conclusions and Future Work -- References -- Design and Evaluation of a Passive Gripper for Remote Manipulation Tasks -- 1 Introduction -- 2 Modelling of the Passive Gripper -- 2.1 Design Considerations -- 2.2 Degrees of Freedom Analysis -- 2.3 Kinematic Model -- 2.4 Dynamic Analysis -- 3 Simulations and Performance of the Designed Gripper -- 3.1 Modelling -- 3.2 Simulation of the Gripper -- 4 Experimental Trials -- 4.1 Mock-Up for Experiments -- 4.2 Experimental Results -- 5 Conclusion -- References -- Limit Characterization for Visual Place Recognition in Underwater Scenes -- 1 Introduction -- 2 Related Works -- 3 Visual Place Recognition -- 4 Experimental Results -- 4.1 Stonefish Simulator -- 4.2 Loop Closure Detection -- 5 Conclusions -- References -- Design, Development and Validation of a Ground Control Station for Aerial Manipulators -- 1 Introduction -- 2 Features of the Ground Control Station -- 3 Implementation of the Ground Control Station -- 3.1 Threads -- 3.2 Communications -- 4 System for the Experimental Validation -- 4.1 Aerial Manipulator -- 4.2 Manipulator for the Slave Mode -- 5 Experiments -- 5.1 Mission Using Waypoints -- 5.2 Predefined Movement of the Aerial Manipulator -- 5.3 Aerial Manipulation Mission with the Slave Mode -- 6 Conclusion -- References -- Control and Stability of an Aerial Manipulator Depending on the Inertial Parameters -- 1 Introduction -- 2 System Description -- 2.1 Specifications -- 2.2 Aerial Platform -- 2.3 Arm Design -- 2.4 Integration of the Aerial Manipulator -- 3 Modeling -- 4 Control. ; 4.1 Aerial Platform Controller -- 4.2 Robotic Arm Controller -- 5 Results -- 5.1 Simulations -- 5.2 Experimental Validation -- 6 Conclusion -- References -- Context Attention: Human Motion Prediction Using Context Information and Deep Learning Attention Models -- 1 Introduction -- 2 Related Work -- 3 Model Architecture -- 3.1 Multi-headed Attention -- 3.2 Information Channels Fusion -- 3.3 Predictor Module -- 3.4 Loss -- 4 Dataset -- 5 Experimental Results -- 5.1 Experimental Details -- 5.2 Experiments -- 6 Conclusions -- References -- From Augmented Reality to Deep Learning-Based Cognitive Assistance: An Overview for Industrial Wire Harnesses Assemblies -- 1 Introduction -- 2 Wire Harness Assembly in Modern Industries -- 2.1 Industries Related to the Wire Harnessing Process -- 3 Augmented Reality Tools -- 3.1 Projection-Based Displays -- 3.2 Screen-Based Displays -- 3.3 Discussion -- 4 Cognitive Assistance Systems in Manual Assembly -- 4.1 Deep Learning-Based Wire Segmentation -- 4.2 Datasets for Training -- 5 Robots Handling Cables -- 6 Summary and Outlook -- References -- Safety Standards for Collision Avoidance Systems in Agricultural Robots - A Review -- 1 Introduction -- 2 Human-Robot Interaction in Agriculture Environments -- 2.1 Interaction -- 2.2 Obstacle Avoidance -- 3 ISO's Standards -- 3.1 Industrial Robotics Standards -- 3.2 Migration to Agricultural Environment -- 4 Comparison Between Collision Avoidance Methods and Standards -- 5 Discussion and Analysis - Lack of Specifications -- 5.1 Collision Avoidance -- 5.2 Collision Avoidance System Evaluation (CASE) Form -- 6 Conclusion -- References -- Enhanced RGB Image Processing Method for Automatic 2D and 3D Defect Inspection on Shiny Surfaces -- 1 Introduction -- 2 Methodology -- 2.1 Image Acquisition Set-Up -- 2.2 Image Merging -- 3 3D Defect Inspection System -- 4 2D Inspection System. ; 5 Test Results -- 6 Conclusion and Future Work -- References -- On the Innovative Management of Remote Robotic Experimentation*-10pt -- 1 Introduction -- 2 Related Work -- 3 The RAWFIE Architecture -- 4 RAWFIE Management -- 4.1 UxV Resources Management -- 4.2 Experiments Management -- 5 A Practical Use Case Within RAWFIE Infrastructure -- 5.1 RAWFIE Testbeds -- 5.2 RT-ART Testbed -- 5.3 RT-ART Experimentation -- 6 Conclusions -- References -- In-Hand Manipulation of Unseen Objects Through 3D Vision -- 1 Introduction -- 2 Related Work -- 3 Methodology -- 3.1 Object Pose Estimation from a Point Cloud -- 3.2 Demo Augmented Policy Gradient -- 4 Experiments -- 4.1 Demonstration Data Collection -- 4.2 Results and Discussion -- 5 Conclusions and Future Work -- References -- Event-Based Visual Tracking in Dynamic Environments*-10pt -- 1 Introduction -- 2 Framework -- 2.1 Problem Statement and Summary of the Proposal -- 2.2 Image Reconstruction -- 2.3 Object Detection -- 2.4 Tracker -- 2.5 Evaluation Metrics -- 3 Experiments -- 3.1 Image Reconstruction -- 3.2 Detection -- 3.3 Tracking -- 3.4 Timing Performance -- 4 Conclusions -- References -- Efficient Semantic Segmentation with Hyperspectral Images -- 1 Introduction -- 2 Related Work -- 3 Method -- 4 Evaluation Methodology -- 4.1 Metrics -- 4.2 Proposed Benchmark -- 5 Experimental Evaluation -- 5.1 Experimental Setup -- 5.2 Accuracy -- 5.3 Efficiency -- 5.4 Comparison with Previous Work -- 6 Conclusions and Future Work -- References -- ExplORB-SLAM: Active Visual SLAM Exploiting the Pose-graph Topology -- 1 Introduction -- 1.1 Contributions -- 1.2 Paper Structure -- 2 Background -- 2.1 Visual Graph-SLAM -- 2.2 On the Optimality of SLAM Pose-graphs -- 3 Proposed Method -- 3.1 SLAM -- 3.2 Frontier Detection -- 3.3 Weighted Graph Hallucination -- 3.4 Frontier Selection And Navigation -- 3.5 Recovery Behavior. ; 4 Experimental Validation -- 5 Conclusions -- References -- Distributed Dynamic Assignment of Multiple Mobile Targets Based on Person Re-Identification -- 1 Introduction -- 2 Distributed Assignment Algorithm -- 3 Transmission Policies -- 4 Person Re-Identification -- 4.1 The Detection Node -- 4.2 The Re-Identification Node -- 4.3 The Filtering Node -- 5 Experiments -- 5.1 Testing Conditions -- 5.2 Evaluation Metrics -- 5.3 Results -- 6 Conclusions -- References -- Robotizing the Sterility Testing Process: Scientific Challenges for Bringing Agile Robots into the Laboratory*-10pt -- 1 Introduction -- 2 Sterility Use Case -- 3 Technical Challenges -- 4 Data Available -- 5 Conclusion -- References -- Mobile Robot Navigation in Dynamic Environments Taking into Account Obstacle Motion in Costmap Construction -- 1 Introduction -- 2 Related Work -- 3 Method -- 3.1 Determining Possible Collision Time -- 3.2 Cost Assignments in the Costmap -- 4 Simulations and Discussion -- 4.1 Simulation Setup -- 4.2 Simulation Results -- 5 Conclusion -- References -- Robust Monte Carlo Localisation Using a Ground Penetrating Radar -- 1 Introduction -- 1.1 Motivation -- 1.2 Research Question -- 1.3 Test Robot and Test Ground -- 2 Ground Penetrating Radar (GPR) -- 2.1 Stepped Frequency Radar with Antenna Array -- 2.2 Signal Processing of the Radar Data -- 3 Localisation -- 3.1 Mapping -- 3.2 Yaw Angle Calculation -- 4 Experimental Results -- 4.1 Parameter Optimisation -- 4.2 Localisation Example -- 5 Conclusion and Outlook -- References -- Dual Arm Aerial Manipulation While Flying, Holding and Perching: Comparative Case Study -- 1 Introduction -- 2 Modeling, Control and Characterization -- 2.1 System Modeling -- 2.2 Control Scheme -- 2.3 Effect of Manipulator Configuration on Flight Controller -- 3 Aerial Manipulation While Flying -- 4 Aerial Manipulation While Holding. ; 5 Aerial Manipulation While Perching.
• Titolo autorizzato: ROBOT2022: fifth Iberian robotics conference
• ISBN: 3-031-21065-4
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 9910631101403321
• Lo trovi qui: Univ. Federico II
• Serie: Lecture notes in networks and systems ; ; Volume 589.