Robust Data Fusion With Occupancy Grid

Štěpán, Petr; Kulich, Miroslav; Přeučil, Libor

doi:10.1109/tsmcc.2004.840048

Cited by 65 publications

(33 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Occupancy maps are a well known technique used in mobile robotics to solve path planning and localization problems [18], [19], [20], [21], [22]. Recently, the application of such grid maps becomes more and more popular to be employed in tracking tasks.…”

Section: D Occupancy Grid Trackingmentioning

confidence: 99%

Human workflow analysis using 3D occupancy grid hand tracking in a human-robot collaboration scenario

Lenz

Sotzek

Röder

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Abstract-In this work, we present a Hidden Markov Model (HMM) based workflow analysis of an assembly task jointly performed by a human and an assistive robotic system. In an experiment subjects had to assemble a tower by combining six cubes with several bolts for their own without the influence of a robot or any other technical device. To estimate the current action of the human, we have trained composite HMMs. After the successful evaluation on disjunct experimental data sets, the models are transferred to the assistive robotic system JAHIR, where the same assembly tasks was executed. A new 3D occupancy grid approach was used to determine the hand positions of the worker. The positions were then used to compute the inputs of the analysis HMMs. The workflow of the right hand could be recognized with an accuracy of 92.26 % which is nearly as good as the recognition rate of reference experiments.

show abstract

Section: D Occupancy Grid Trackingmentioning

confidence: 99%

Human workflow analysis using 3D occupancy grid hand tracking in a human-robot collaboration scenario

Lenz

Sotzek

Röder

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

show abstract

“…Under this point of view, this method is a good approach to the obstacle avoidance problem since, besides the possibility to solve the problem of modelling multi-object space occupancy, it also faces the problem of sensor fusion, as the structure of Bayesian occupancy grid is well suited for the integration of different typologies of sensor measurements (Stepan et al, 2005). The algorithm is structured as follows:…”

Section: Hybrid Control Techniques For Static and Dynamic Environmentmentioning

confidence: 99%

Hybrid Control Techniques for Static and Dynamic Environments: a Step towards Robot-Environment Interaction

Romanelli¹

2010

Robot Manipulators New Achievements

View full text Add to dashboard Cite

“…Previous works on sensor fusion for navigation [32,33,34] have been adapted to this particular problem. Several questions arise from the use of external sensors in the wheelchair navigation, that have to do with the transmission through wireless links (connecting the external sensors with the wheelchair) of information with real-time constraints.…”

Section: Environment Support For Navigationmentioning

confidence: 99%

Towards an intelligent and supportive environment for people with physical or cognitive restrictions

Abascal

Bonail

Casas

et al. 2009

Proceedings of the 2nd International Conference on PErvasive Technologies Related to Assistive Environments

View full text Add to dashboard Cite

AmbienNet environment has been developed with the aim of demonstrating the feasibility of accessible intelligent environments designed to support people with disabilities and older persons living independently. Its main purpose is to examine in depth the advantages and disadvantages of pervasive supporting systems based on the paradigm of Ambient Intelligence for people with sensory, physical or cognitive limitations. Hence diverse supporting technologies and applications have been designed in order to test their accessibility, ease of use and validity. This paper presents the architecture of AmbienNet intelligent environment and an intelligent application to support indoors navigation for smart wheelchairs designed for validation purposes.

show abstract

Robust Data Fusion With Occupancy Grid

Cited by 65 publications

References 4 publications

Human workflow analysis using 3D occupancy grid hand tracking in a human-robot collaboration scenario

Human workflow analysis using 3D occupancy grid hand tracking in a human-robot collaboration scenario

Hybrid Control Techniques for Static and Dynamic Environments: a Step towards Robot-Environment Interaction

Towards an intelligent and supportive environment for people with physical or cognitive restrictions

Contact Info

Product

Resources

About