IAS-LAB PUBLICATIONS
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Authors: + 345 E 47TH ST, NEW YORK, NY 10017 USA; eng 2-s2.0-70350359687
Journal: Italy||Italy||Germany||Germany||Italy
Published: doi
5152447
Volume: Pretto A.; Menegatti E.; Bennewitz M.; Burgard W.; Pagello E. Pages: Pretto||Menegatti||Bennewitz||Burgard||Pagello-Motion blur is a severe problem in images grabbed by legged robots and, in particular, by small humanoid robots. Standard feature extraction and tracking approaches typically fail when applied to sequences of images strongly affected by motion blur. In this paper, we propose a new feature detection and tracking scheme that is robust even to nonuniform motion blur. Furthermore, we developed a framework for visual odometry based on features extracted out of and matched in monocular image sequences. To reliably extract and track the features, we estimate the point spread function (PSF) of the motion blur individually for image patches obtained via a clustering technique and only consider highly distinctive features during matching. We present experiments performed on standard datasets corrupted with motion blur and on images taken by a camera mounted on walking small humanoid robots to show the effectiveness of our approach. The experiments demonstrate that our technique is able to reliably extract and match features and that it is furthermore able to generate a correct visual odometry, even in presence of strong motion blur effects and without the aid of any inertial measurement sensor. © 2009 IEEE.
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Authors: 519 THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND; eng 2-s2.0-67349161775
Journal: Italy||Italy||Italy||Italy
Published: false
DOI: Polo S.Anna Valdera||University of Padua||University of Padua||University of Padua
Volume: Greggio N.; Menegatti E.; Silvestri G.; Pagello E. Pages: Greggio||Menegatti||Silvestri||Pagello-In this paper, we illustrate the development of a realistic simulation of a humanoid robot model in a virtual environment using USARSim (Urban Search and Rescue Simulator). USARSim provides an accurate 3D simulation of a virtual environment with a detailed rendering and a realistic physics. Moreover, USARSim allows users to observe the virtual environment from different views. One of these is the egocentric view, which can simulate the camera mounted on the robot. The small humanoid robot presented in this work is Robovie-M, developed by VStone Ltd. (Japan). This robot is used by our team Artisti in the RobotCup soccer competitions. Reported experiments compare the behaviors of a real robot and of its virtual model, when controlled by the same control software to asses the possibility to faithfully simulate a robot with 22 degrees of freedom in USARSim. Moreover, we discuss the possibility to close the control loop of the robot in simulation, by simulating also the main robot sensor, i.e. the camera. The experiments show that USARSim, despite being a simple simulator based on a low cost computer game, provides an accurate enough simulation of the physics and a realistic rendering of the 3D scene enabling a faithful simulation of a small humanoid robot at low cost. Thus, one can entirely test the robot software modules in the simulation (namely: the motion control modules, the vision system modules and, by closing the robot control loop in simulation, the behavior and behavior-selection modules). © 2009 The Franklin Institute.
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Authors: + 345 E 47TH ST, NEW YORK, NY 10017 USA; eng 2-s2.0-70349751530
Journal: Italy||Italy||Italy||Italy||Italy||Italy||Italy||Italy||Italy||Italy||Italy||Italy
Published: doi
5066878
Volume: Chella A.; Pagello E.; Menegatti E.; Sorbello R.; Anzalone S.M.; Cinquegrani F.; Tonin L.; Piccione F.; Prifitis K.; Blanda C.; Buttita E.; Tranchina E. Pages: Chella||Pagello||Menegatti||Sorbello||Anzalone||Cinquegrani||Tonin||Piccione||Prifitis||Blanda||Buttita||Tranchina-Brain Computer Interface is a system that offers also a support to the patients with neuromuscular diseases as Amyotrophic Lateral Sclerosis. In this paper are presented some works with the aim to integrate brain computer interfaces and mobile robots. The two aim of this project are: (i) to test an improved BCI experience through the help of a physical robot, so that brain signals are stronger stimulate. (ii) to use a remote robot controlled by a highly paralyzed patient via a BCI through a friendly Graphic User. Some preliminary experiments are presented in this paper about one of the possible application: a robotic museum guide (PeopleBot and Pioneer3 robot), that can transmit remote visual perceptions to the patient.,Assistive Devices/Technology, Human Robot Interface. © 2009 IEEE.
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Authors: + 345 E 47TH ST, NEW YORK, NY 10017 USA; eng 2-s2.0-77950922113
Journal: Italy||Japan||Japan||Brazil||Italy||Italy
Published: doi
5418332
Volume: DallaLibera F.; Minato T.; Ishiguro H.; Ferreira A.; Pagello E.; Menegatti E. Pages: DallaLibera||Minato||Ishiguro||Ferreira||Pagello||Menegatti-Given the complexity and the high number of degrees of freedom humanoid robot motions often are generated off-line, stored in the robot memory and then reproduced. In the simplest cases motor commands are just replayed in open-loop (i.e. feed-forward), in more advanced implementations few parameters are changed on fly to adapt the motion to the external conditions. Indeed, several authors proposed a large variety of techniques to exploit the input from sensory feedback to modify a reference trajectory, in order to cope with environment changes and disturbances. In this paper, we propose a motion representation for humanoid robots that includes the sensory feedback information in the motion representation itself. This motion description allows stabilization against disturbances and environmental changes, but does not require any design or tuning of the relationships between sensory inputs and movement modification. We present experimental results on a simulated small humanoid robot equipped with motor encoders and touch sensors covering the whole body.
https://doi.org/10.1016/s0921-8890(09)00071-2
Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; ITA; DEU; SGP; 2015-06-05T05:57:19Z
Published: false
DOI: bronze
ERROR
Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; 2015-06-05T07:43:21Z
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
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Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; JPN; ITA; 2015-06-05T07:43:20Z
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
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Authors: 1705 345 E 47TH ST, NEW YORK, NY 10017 USA; eng 2-s2.0-70350379433
Journal: Italy||Italy||Italy||Italy||Italy
Published: doi
5152449
Volume: Menegatti E.; Zanella A.; Zilli S.; Zorzi F.; Pagello E. Pages: Menegatti||Zanella||Zilli||Zorzi||Pagello-This paper presents the localization of a mobile robot while simultaneously mapping the position of the nodes of aWireless Sensor Network using only range measurements. The robot can estimate the distance to nearby nodes of the Wireless Sensor Network by measuring the Received Signal Strength Indicator (RSSI) of the received radio messages. The RSSI measure is very noisy, especially in an indoor environment due to interference and reflections of the radio signals. We adopted an Extended Kalman Filter SLAM algorithm to integrate RSSI measurements from the different nodes over time, while the robot moves in the environment. A simple pre-processing filter helps in reducing the RSSI variations due to interference and reflections. Successful experiments are reported in which an average localization error less than 1 m is obtained when the SLAM algorithm has no a priori knowledge on the wireless node positions, while a localization error less than 0.5 m can be achieved when the position of the node is initialized close to the their actual position. These results are obtained using a generic path loss model for the trasmission channel. Moreover, no internode communication is necessary in the WSN. This can save energy and enables to apply the proposed system also to fully disconnected networks. © 2009 IEEE.
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Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; Non assegn; FRA; ESP; GRC; ROU; ITA; CZE; 2015-06-04T20:38:54Z; 9789606749490
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
INTED2009
Authors: Non assegn; AREA MIN. 09 - Ingegneria industriale e dell'informazione; ESP; ITA
Journal: International Association of Technology, Education and Development
Published: Education||Computer Science & Engineering||Surgery||AI, Robotics & Automatic Control