Differences
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beobot_2.0_system [2013/05/05 17:44] siagian |
beobot_2.0_system [2013/12/05 15:21] (current) siagian |
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| Past software accomplished deadlines can be found [[Beobot_2.0/Past_Software_Deadlines |here]]. | Past software accomplished deadlines can be found [[Beobot_2.0/Past_Software_Deadlines |here]]. | ||
| - | ^ ^ Tasks ^ Date ^ | + | |
| - | |1. | ICRA2014: BeoRoadFinder: vision & tilted LRF | Sept 15, 2013 | | + | |
| - | |2. | IEEE AR 2013 road recognition comparison paper | Oct 31, 2013 | | + | ^ ^ Tasks ^ Date ^ |
| - | |3. | Implement Object search system | Dec 1, 2013 | | + | |1. | IEEE AR 2013 road recognition comparison paper | Dec 31, 2013 | |
| - | |4. | RSS2014: Crowd navigation & understanding | Feb1, 2014 | | + | |2. | IROS 2014: BeoRoadFinder: vision & tilted LRF | Feb 1, 2014 | |
| - | |5. | Implement Human-Robot Interaction system | August 1, 2014 | | + | |3. | Implement Object search system | Mar 1, 2014 | |
| + | |4. | RSS 2014: Crowd navigation & understanding | May 1, 2014 | | ||
| + | |5. | Implement Human-Robot Interaction system | August 1, 2014 | | ||
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| The specific tasks that we are focusing on are: | The specific tasks that we are focusing on are: | ||
| - | * [[http://ilab.usc.edu/siagian/Research/RobotVisionLocalization/RobotVisionLocalization.html|Biologically inspired Vision Localization system]] | + | * [[http://ilab.usc.edu/siagian/Research/RobotVisionLocalization/RobotVisionLocalization.html|Biologically inspired Vision Localization system]] |
| - | * [[http://ilab.usc.edu/siagian/Research/RobotVisionNavigation/RobotVisionNavigation.html|vision navigation system]] using salient regions. [[Beobot_2.0/Software_System/GistSal_Localization_Navigation| work notes]]. | + | * [[http://ilab.usc.edu/siagian/Research/RobotVisionNavigation/RobotVisionNavigation.html|vision navigation system]] using salient regions. [[Beobot_2.0/Software_System/GistSal_Localization_Navigation| work notes]]. |
| - | * [[Beobot_2.0/Software_System/Lane_Following| road or lane following/recognition and navigation system]]. | + | * [[http://ilab.usc.edu/siagian/Research/RobotVisionNavigation/VisualRoadRecognition.html|road or lane following/recognition and navigation system]] |
| - | * recognizing people and other target objects | + | * recognizing people and other target objects |
| - | * approaching and following people and other target objects | + | * approaching and following people and other target objects |
| - | * real time human pose recognition and tracking that leads to better mobile [[Beobot_2.0/Software_System/Human_Robot_Interaction|Human Robot Interaction]] | + | * real time human pose recognition and tracking that leads to better mobile [[Beobot_2.0/Software_System/Human_Robot_Interaction|Human Robot Interaction]] |
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| ==== Hierarchical Representation of the Robot's Environment ==== | ==== Hierarchical Representation of the Robot's Environment ==== | ||
| - | At the center of our software architecture is the use of hierarchical representation of the robot's environment. | + | At the center of our mobile robotic system is the use of hierarchical representation of the robot's environment. |
| We have a two level map: a global map for localization (how to recognize one's own location) and a local map for localization (how to to move about one's current environment, regardless if we know our exact location). | We have a two level map: a global map for localization (how to recognize one's own location) and a local map for localization (how to to move about one's current environment, regardless if we know our exact location). | ||
| - | The **global map** (illustrated by the left image) is a graph-based augmented topological map, which is very compact and scalable to localize large sized environments. | + | The **global map** (illustrated by the left image) is a graph-based augmented topological map, which is compact and scalable to localize large sized environments. |
| On the other hand, for navigation, we utilize an ego-centric traditional grid occupancy map as **local map** (on the right), which details the dangers in the robot's immediate surrounding. Here the robot is denoted below by a circle with an arrow indicating the robot's heading. | On the other hand, for navigation, we utilize an ego-centric traditional grid occupancy map as **local map** (on the right), which details the dangers in the robot's immediate surrounding. Here the robot is denoted below by a circle with an arrow indicating the robot's heading. | ||
| {{:globaltopologicalmap.jpg?400|}}{{:localnavigationgridmap.jpg?400|}} | {{:globaltopologicalmap.jpg?400|}}{{:localnavigationgridmap.jpg?400|}} | ||
| - | We find that it would be inefficient to use a grid map for global localization, as it is too large to maintain, but with little added information that a topological map cannot do. | + | |
| + | It would be inefficient to use a grid map for global localization, as it is too large to maintain for large scale environments, but with little added information that is not in a topological map. | ||
| We do not need to memorize every square foot of every hallway in the environment, we just need to know the one we are on. | We do not need to memorize every square foot of every hallway in the environment, we just need to know the one we are on. | ||
| By using a local map that will not be committed to the long term storage (it is robot-centric and is updated as the robot moves), we have our desired overall mobile robot representation that is both compact (for scalability) and detailed (for accuracy). | By using a local map that will not be committed to the long term storage (it is robot-centric and is updated as the robot moves), we have our desired overall mobile robot representation that is both compact (for scalability) and detailed (for accuracy). | ||
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| + | ===== Navigation ===== | ||
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| + | We use road recognition system to navigate. | ||
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| + | {{youtube>U5TFW-o7WJA?large}} | ||
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| ===== Software Tools, Operating Systems Issues ===== | ===== Software Tools, Operating Systems Issues ===== | ||
| - | The software tools related discussions can be found [[Beobot_2.0/Software_Tools| here]]. | + | The software tools related discussions can be found [[Beobot_2.0/Software_Tools| here]]. |
| + | It includes firmware level issues such as low level computer communication. | ||
| - | Back to [[index|Beobot 2.0]] | ||
| + | Back to [[index|Beobot 2.0]] | ||
