RViz: a toolkit for real domain data visualization

Kam, Hyeong Ryeol; Lee, Sungho; Park, Taejung; Kim, Chang-Hun

doi:10.1007/s11235-015-0034-5

Cited by 144 publications

(56 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…We followed a modular approach, using Qt libraries and ROS libRViz for 3D rendering (Kam et al, 2015). Every DRC task has a dedicated widget and can be used standalone.…”

Section: Pilot Interfacementioning

confidence: 99%

The Walk-Man Robot Software Architecture

et al. 2016

View full text Add to dashboard Cite

A software and control architecture for a humanoid robot is a complex and large project, which involves a team of developers/researchers to be coordinated and requires many hard design choices. If such project has to be done in a very limited time, i.e., less than 1 year, more constraints are added and concepts, such as modular design, code reusability, and API definition, need to be used as much as possible. In this work, we describe the software architecture developed for Walk-Man, a robot participant at the Darpa Robotics Challenge. The challenge required the robot to execute many different tasks, such as walking, driving a car, and manipulating objects. These tasks need to be solved by robotics specialists in their corresponding research field, such as humanoid walking, motion planning, or object manipulation. The proposed architecture was developed in 10 months, provided boilerplate code for most of the functionalities required to control a humanoid robot and allowed robotics researchers to produce their control modules for DRC tasks in a short time. Additional capabilities of the architecture include firmware and hardware management, mixing of different middlewares, unreliable network management, and operator control station GUI. All the source code related to the architecture and some control modules have been released as open source projects.

show abstract

“…We followed a modular approach, using Qt libraries and ROS libRViz for 3D rendering (Kam et al, 2015). Every DRC task has a dedicated widget and can be used standalone.…”

Section: Pilot Interfacementioning

confidence: 99%

The Walk-Man Robot Software Architecture

et al. 2016

View full text Add to dashboard Cite

show abstract

“…In this interface, the robot arm did not move. Participants could move the virtual camera in the visualization to gain different perspectives using a keyboard-and-mouse-based control scheme (as in RViz [14]). For consistency, participants recorded their assessment using an Xbox controller.…”

Section: Interfacesmentioning

confidence: 99%

Communicating Robot Arm Motion Intent Through Mixed Reality Head-Mounted Displays

Rosen

Whitney

Phillips

et al. 2019

Springer Proceedings in Advanced Robotics

View full text Add to dashboard Cite

Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues. However, robots often have difficulty efficiently communicating their motion intent to humans via these methods. Many existing methods for robot motion intent communication rely on 2D displays, which require the human to continually pause their work and check a visualization. We propose a mixed reality head-mounted display visualization of the proposed robot motion over the wearer's real-world view of the robot and its environment. To evaluate the effectiveness of this system against a 2D display visualization and against no visualization, we asked 32 participants to labeled different robot arm motions as either colliding or non-colliding with blocks on a table. We found a 16% increase in accuracy with a 62% decrease in the time it took to complete the task compared to the next best system. This demonstrates that a mixed-reality HMD allows a human to more quickly and accurately tell where the robot is going to move than the compared baselines.

show abstract

“…We use Gazebo [23] where we simulated the AscTec Hummingbird drone [22] equipped with the VI-Sensor [27] and controlled with RPG Quadrotor Control [29]. We display our system state and result in Rviz [24] The simulation and the VINS-Mono transformed in the VINS-YOLO tracker was run on a desktop computer 7.7 GiB, Intel Core i3-6100 CPU @ 3.70GHz x 4, equipped with a GeForce GTX 1050 Ti on Ubuntu 16.04. All visual captors and the neural network are meant to run on the mobile plateform, we chose the Jetson TX2 Nvidia Tegrax2, which has an ARMv8 Processor rev3 x 4 ARMv8.…”

Section: Implementation a Environmentmentioning

confidence: 99%

Exploiting the ACCuracy-ACCeleration tradeoff: VINS-assisted real-time object detection on moving systems

Dem¹,

Nakazawa

2019

2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

View full text Add to dashboard Cite

In recent years, Convolutional Neural Networks (CNNs) have repeatedly shown state-of-the-art performance for their accuracy in the task of object detection, but their heavy computational costs impede their ability for real-time detection when the supporting system is moving especially accelerating. At the same time, recent progress on visual inertial systems takes great advantage of movement information to robustly estimate the robot state and surrounding. This paper proposes to exploit the advantages of inertial odometry research for the purpose of real-time object detection system on mobile robots. We combine a CNN detector with VINS-Mono, a moving visual odometry system, and show reliable improvement in the detection process, especially as the robot accelerates or decelerates. Our system is ready-to-use in that it has very low deployment cost and requires no calibration. The resulting system allows for simultaneous robot state estimation and object detection, as well as object tracking. Lastly, the architecture is flexible in that it is not restrained to a specific object type or detector.

show abstract

RViz: a toolkit for real domain data visualization

Cited by 144 publications

References 19 publications

The Walk-Man Robot Software Architecture

The Walk-Man Robot Software Architecture

Communicating Robot Arm Motion Intent Through Mixed Reality Head-Mounted Displays

Exploiting the ACCuracy-ACCeleration tradeoff: VINS-assisted real-time object detection on moving systems

Contact Info

Product

Resources

About