NDLI: A Clustering-Based Obstacle Segmentation Approach for Urban Environments

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2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR)

Table of contents

Conference Organization

Program Committee

Acknowledgements

Analysis and Simulation of Humanoid Gait

Distributed Object Subtraction 3D Mapping

Dense Localization of a Monocular Camera Using Keyframes

Combined Structure-Control Optimal Design of the Stewart-Gough Robot

An Unconstrained Dataset for Non-Stationary Video Based Fire Detection

Automated Control Module Based on VBM for Shipyard Welding Applications: Study Case on the Bug-O Matic Weaver Robot

A New Cost Function Heuristic Applied to A* Based Path Planning in Static and Dynamic Environments

Automated System for the Container Loading Problem Integrating Linear Programming and Automated Planning

Foothold Planning and Gait Generation for a Hexapod Robot Traversing Terrains with Forbidden Zones

Numerical Analysis and Prototyping Details of a Planar Parallel Redundant Manipulator

Junior Soccer Simulation: Providing all Primary and Secondary Students Access to Educational Robotics

Hybrid Deliberative Reactive Navigation System for Mobile Robots Using ROS and Fuzzy Logic Control

Trajectory Generation and Tracking Using the AR.Drone 2.0 Quadcopter UAV

Control Architecture for Cooperative Mobile Robotic Tasks

Proposal for Natural Human-Robot Interaction through the Use of Robotic Arms

A Robotic Flying Crane Controlled by an Embedded Computer Cluster

Reconfigurable Hardware Architecture for Vision-Based Driving Systems

Set-Point Regulation of a Robot Manipulator with Flexible Joints Using Fuzzy Control

Environment Exploration for Impedance Control Based Manipulators: Initial Experimental Study on Object Position Detection with Stable Contact

Pearson's Correlation Coefficient for Discarding Redundant Information: Velodyne Lidar Data Analysis

Fast Metric Tracking by Detection System: Radar Blob and Camera Fusion

Solving the Monocular Visual Odometry Scale Problem with the Efficient Second-Order Minimization Method

The Rock-Gazebo Integration and a Real-Time AUV Simulation

Autonomous Path Planning of Free-Floating Manipulators Using RRT-Based Algorithms

Robot Navigation by Gesture Recognition with ROS and Kinect

GPU-Services: Real-Time Processing of 3D Point Clouds for Robotic Systems Using GPUs

Rotation Control Performance of a Friction Welding Repair System Using a Neural Network

Multi-Robot Task Allocation Approach Using ROS

Humanoid Robot's Inverse Kinematics Using Algebraic Geometry

Fast Metric Multi-Object Vehicle Tracking for Dynamical Environment Comprehension

Driver Assistance Controller for Tire Saturation Avoidance up to the Limits of Handling

Addressing Escorting by Behavior Combining Using Multiple Differential Drive Robots

A Novel Distance Cost Approach for Multi-Robot Integrated Exploration

Estimation of Patient Participation during Therapeutic Movements Using the Anklebot: Technique and Preliminary Results

A Simple Visual Odometry Approach Based on Point Clouds

Using Reinforcement Learning to Improve the Stability of a Humanoid Robot: Walking on Sloped Terrain

Vision-Based Monte Carlo Localization without Measurement: A Qualitative Approach during Update Phase

Socially Acceptable Robot Navigation in the Presence of Humans

A Question Game for Children Aiming the Geometrical Figures Learning by Using a Humanoid Robot

Multi-object Transportation Using a Mobile Robot

Development of a Software for Coaching of Paralympic Sport Shooting

Novelty Detection Based on NCD for Navigation Control of Mobile Robots

Ground Vehicle Detection and Classification by an Unmanned Aerial Vehicle

Compact RRT: A New Approach for Guided Sampling Applied to Environment Representation and Path Planning in Mobile Robotics

A Clustering-Based Obstacle Segmentation Approach for Urban Environments

Terrain Classification from UAV Flights Using Monocular Vision

Morphological Operators Applied to Human Body Detection HOG Method Improvement

Evaluating the Performance of Two Visual Descriptors Techniques for a Humanoid Robot

A Topological Descriptor of Acoustic Images for Navigation and Mapping

Detecting Latent Variables of Interest in Geo-Localized Environments Using an Aerial Robot

A Simulation Framework for Multi-Vehicle Communication

Aligning RGB-D Point Clouds through Adaptive Integration of Color and Depth Cues

A New Improvement of Human Bodies Detection

Path Planning and Autonomous Navigation using AMCL and AD*

An Architecture for Computational Control of an Industrial Machine for Classifying Chestnuts

Mirã Rover Characterization

A SoC with FPGA Landmark Acquisition System for Binocular Visual SLAM

Lateral Control Based on Clothoids Curves for Heavy Category Ground Vehicles

Trajectory Planning in Dynamic Environments for an Industrial AGV, Integrated with Fuzzy Obstacle Avoidance

Rules for Robotic Cooperation Based on Vygotsky and Piaget

An Interactive Question-Answer System with Dialogue for a Receptionist Avatar

Automated Positioning System for Mobile Robots Based on RFID RSSI and Extended Kalman Filter

PID Tuning for the Pitch Angle of a Two-Wheeled Vehicle

Design, Manufacture and Construction of a Wireless Robotic Arm for Educational Purposes

Swarm of Robots Coordination Strategy Based on WSN Packages Transmission and Supervisors' External Commands

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol

A Clustering-Based Obstacle Segmentation Approach for Urban Environments

Content Provider	IEEE Xplore Digital Library
Author	Ridel, Daniela A. Shinzato, Patrick Y. Wolf, Denis F.
Copyright Year	2015
Abstract	The detection of obstacles is a fundamental issue in autonomous navigation, as it is the main key for collision prevention. This paper presents a method for the segmentation of general obstacles by stereo vision with no need of dense disparity maps or assumptions about the scenario. A sparse set of points is selected according to a local spatial condition and then clustered in function of its neighborhood, disparity values and a cost associated with the possibility of each point being part of an obstacle. The method was evaluated in hand-labeled images from KITTI object detection benchmark and the precision and recall metrics were calculated. The quantitative and qualitative results showed satisfactory in scenarios with different types of objects.
Starting Page	265
Ending Page	270
File Size	2353154
Page Count	6
File Format	PDF
ISBN	9781467371292
DOI	10.1109/LARS-SBR.2015.58
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-10-29
Publisher Place	Brazil
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Image segmentation Obstacle detection Image edge detection Clustering algorithms Benchmark testing Cameras Sensors Stereo vision Clustering Robots
Content Type	Text
Resource Type	Article

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