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Conference Paper: Programming human-like point-to-point approaching movement by demonstrations with Large-Scale Direct Monocular SLAM

TitleProgramming human-like point-to-point approaching movement by demonstrations with Large-Scale Direct Monocular SLAM
Authors
Issue Date2016
PublisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000856
Citation
2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), Qingdao, China, 3-7 December 2016 , p. 1498-1503 How to Cite?
AbstractWith the development of robotic technologies over last decades, the robotic mapping or the simultaneous localization and mapping (SLAM) has got matured correspondingly. The Large-Scale Direct Monocular SLAM (LSD-SLAM) is among the most promising methods in SLAM, which not only locally tracks the motion of the camera, but allows to build consistent and large-scale maps of the environment. In this paper, LSD-SLAM is implemented to model the surrounding environment of a three degrees-of-freedom robot manipulator. All the objects in the robot workspace have been recognized and located. And the robot will take the extracted information as visual input to perform a point-to-point approaching task A novel motion planning technique, programming by demonstrations (PbD), is used to transfer human approaching skills to the robot. Gaussian Mixture Models (GMM) and Gaussian Mixture Regression (GMR) are used to encode human demonstrations with a first-order differential dynamical systems model. Experimental results have verified the effectiveness of the proposed methods.
DescriptionTuA04 : SLAM & Sensor Networks I (Regular Sessions)
Persistent Identifierhttp://hdl.handle.net/10722/241700
ISBN

 

DC FieldValueLanguage
dc.contributor.authorSun, P-
dc.contributor.authorChen, J-
dc.contributor.authorLau, HYK-
dc.date.accessioned2017-06-20T01:47:22Z-
dc.date.available2017-06-20T01:47:22Z-
dc.date.issued2016-
dc.identifier.citation2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), Qingdao, China, 3-7 December 2016 , p. 1498-1503-
dc.identifier.isbn978-1-5090-4365-1-
dc.identifier.urihttp://hdl.handle.net/10722/241700-
dc.descriptionTuA04 : SLAM & Sensor Networks I (Regular Sessions)-
dc.description.abstractWith the development of robotic technologies over last decades, the robotic mapping or the simultaneous localization and mapping (SLAM) has got matured correspondingly. The Large-Scale Direct Monocular SLAM (LSD-SLAM) is among the most promising methods in SLAM, which not only locally tracks the motion of the camera, but allows to build consistent and large-scale maps of the environment. In this paper, LSD-SLAM is implemented to model the surrounding environment of a three degrees-of-freedom robot manipulator. All the objects in the robot workspace have been recognized and located. And the robot will take the extracted information as visual input to perform a point-to-point approaching task A novel motion planning technique, programming by demonstrations (PbD), is used to transfer human approaching skills to the robot. Gaussian Mixture Models (GMM) and Gaussian Mixture Regression (GMR) are used to encode human demonstrations with a first-order differential dynamical systems model. Experimental results have verified the effectiveness of the proposed methods.-
dc.languageeng-
dc.publisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000856-
dc.relation.ispartofIEEE International Conference on Robotics and Biomimetics Proceedings-
dc.rightsIEEE International Conference on Robotics and Biomimetics Proceedings. Copyright © IEEE.-
dc.rights©2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.titleProgramming human-like point-to-point approaching movement by demonstrations with Large-Scale Direct Monocular SLAM-
dc.typeConference_Paper-
dc.identifier.emailLau, HYK: hyklau@hkucc.hku.hk-
dc.identifier.authorityLau, HYK=rp00137-
dc.identifier.doi10.1109/ROBIO.2016.7866539-
dc.identifier.hkuros272869-
dc.identifier.spage1498-
dc.identifier.epage1503-
dc.publisher.placeUnited States-

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