Research Project

ARGOS: Navegación autónoma de robots guiados por objetivos visuales

Type

National Project

Start Date

28/12/2000

End Date

27/12/2003

Project Code

DPI2000-1352-C

Project illustration

Staff

Project Description

La finalidad de este proyecto es hacer posible el guiado de un robot móvil mediante una interfaz visual. Para ello se dotará al robot de una o más cámaras que tomarán imágenes del entorno y serán mostradas en una pantalla de control. Para guiar al robot, el operador solamente deberá indicar sobre la imagen observada el lugar al que debe dirigirse el robot, dejando que éste se encargue de todos los aspectos de la conducción, tales como el control de la velocidad de los motores, el control de la dirección, la evitación de obstáculos, la planificación y seguimiento de trayectorias, etc., hasta alcanzar el objetivo marcado o hasta que el operador marque un nuevo punto de destino.

Se trabajará con robots móviles reales en entornos de distinta complejidad sobre los que no se supondrá ningún conocimiento previo. Se utilizarán robots con ruedas para interiores tipo oficina o exteriores poco abruptos, y un robot con patas para terrenos que presenten mayor dificultad. En todos los casos la navegación hacia el objetivo indicado se realizará de forma autónoma en base a la información visual que se obtenga mediante cámaras transportadas por el propio robot.

Project Publications

Journal Publications

  • J.M. Porta and E. Celaya. Reactive free-gait generation to follow arbitrary trajectories with a hexapod robot. Robotics and Autonomous Systems, 47(4): 187-201, 2004.

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  • E. Martinez and C. Torras. Contour-based 3d motion recovery while zooming. Robotics and Autonomous Systems, 44(3): 219-227, 2003.

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Conference Publications

  • F. Moreno-Noguer, A. Sanfeliu and D. Samaras. Integration of conditionally dependent object features for robust figure-background segmentation, 10th International Conference on Computer Vision, 2005, Beijing, Xina, pp. 1713-1720, 2005, IEEE, Barcelona, Espanya.

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  • F. Moreno-Noguer and A. Sanfeliu. A framework to integrate particle filters for robust tracking in non-stationary environments, 2nd Iberian Conference on Pattern Recognition and Image Analysis, 2005, Estoril, in Pattern Recognition and Image Analysis, Vol 3523 of Lecture Notes in Computer Science, pp. 93-101, 2005, Springer, Berlin, Alemanya.

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  • F. Moreno-Noguer, A. Sanfeliu and D. Samaras. Fusion of a multiple hypotheses color model and deformable contours for figure ground segmentation in dynamic enviroments, 2004 CVPR Workshop on Articulated and Non-Rigid Motion, 2004, Washington, pp. 13-14, 2004, UPC-CSIC.

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  • F. Moreno-Noguer and A. Sanfeliu. Integration of shape and a multihypotheses fisher color model for figure-ground segmentation in non-stationary environments, 17th International Conference on Pattern Recognition, 2004, Cambridge, England, pp. 771-774, 2004, IEEE, Barcelona, Espanya.

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  • F. Moreno-Noguer and A. Sanfeliu. Adaptive color model for figure-ground segmentation in dynamic environments, 9th Iberoamerican Congress on Pattern Recognition, 2004, Puebla, Mèxic, in Progress in Pattern Recognition, Image Analysis and Applications, Vol 3287 of Lecture Notes in Computer Science, pp. 37-44, 2004, Springer, Berlin, Alemanya.

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  • E. Celaya and P. Jiménez. Salience detection in time-evolving image sequences, 3rd International Conference on Hybrid Intelligent Systems, 2003, Melbourne, in Design and application of hybrid intelligent systems, pp. 852-860, 2003, IOS Press, Amsterdam, Holanda.

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  • F. Moreno-Noguer, J. Andrade-Cetto and A. Sanfeliu. Fusion of color and shape for object tracking under varying illumination, 1st Iberian Conference on Pattern Recognition and Image Analysis, 2003, Port d'Andratx, in Pattern Recognition and Image Analysis, Vol 2652 of Lecture Notes in Computer Science, pp. 580-588, 2003, Springer, Berlin, Alemanya.

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  • E. Celaya. Salience detection for vision-based robot navigation, 11th International Conference on Advanced Robotics, 2003, Coimbra, Portugal, pp. 345-350, Universidade de Coimbra.

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  • G. Alenyà, E. Martinez and C. Torras. Fusing visual contour tracking with inertial sensing to recover robot egomotion, 1st Workshop on Integration of Vision and Inertial Sensors, 2003, Coimbra, Portugal, pp. 1881-1898, Universidade de Coimbra.

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  • E. Celaya and J.L. Albarral. Implementation of a hierarchical walk controller for the LAURON III hexapod robot, 6th International Conference on Climbing and Walking Robots, 2003, Catania, Itàlia, in Climbing and Walking Robots and the Supporting Technologies for Mobile Machines: Clawar 2003, pp. 409-416, Professional Engineering Publishing Limited.

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  • E. Celaya and C. Torras. Visual navigation outdoors: the ARGOS project, 7th International Conference on Intelligent Autonomous Systems, 2002, Marina del Rey, Estats Units d'Amèrica, Vol 7 of Intelligent Autonomous Systems, pp. 63-67, 2002, IOS Press, Amsterdam, Holanda.

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  • J. Andrade-Cetto and A. Sanfeliu. Concurrent map building and localization with landmark validation, 16th International Conference on Pattern Recognition, 2002, Quebec, Canadà, pp. 693-696, 2002, IEEE.

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  • F. Moreno-Noguer, A. Tarrida, J. Andrade-Cetto and A. Sanfeliu. 3D real-time head tracking fusing color histograms and stereovision, 16th International Conference on Pattern Recognition, 2002, Quebec, Canadà, pp. 368-371, 2002, IEEE.

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  • E. Martinez and C. Torras. 3D motion recovery while zooming using active contours, 7th International Conference on Intelligent Autonomous Systems, 2002, Marina del Rey, Estats Units d'Amèrica, Vol 7 of Intelligent Autonomous Systems, pp. 207-214, 2002, IOS Press, Amsterdam, Holanda.

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  • J.M. Porta and E. Celaya. Efficient gait generation using reinforcement learning, 4th International Conference on Climbing and Walking Robots, 2001, Karlsruhe, Alemanya, in Climbing and Walking Robots: From Biology to Industrial Applications, pp. 411-418, 2001, Wiley, Hardcover.

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  • E. Todt and C. Torras. Color constancy for landmark detection in outdoor environments, 4th European Workshop on Advanced Mobile Robots, 2001, Lund, Suècia, pp. 75-82, Elsevier.

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