Research Project

PAU: Percepción y acción ante incertidumbre

Type

National Project

Start Date

01/01/2009

End Date

31/03/2012

Project Code

DPI2008-06022

Project illustration

Staff

Project Description

Project web page


Project web page.

Summary


The goal of this project is to provide a theoretical foundation of the relation between perception and action in the presence of uncertainty. The main outcome of the project will be novel scientific contributions on Bayesian estimation applied to robotics problems with large state spaces. In particular, the project will produce: novel uncertainty parameterizations that allow efficient inference, new probabilistic hypotheses testing strategies with respect to information load, new active exploration paradigms for scene and object model acquisition, and novel pose estimation algorithms.

On the technical side, two demonstration applications are foreseen: manipulation of planar deformable objects and real-time SLAM systems in large outdoor unstructured environments. These two specific robotics applications, although very different in nature share many common aspects with respect to the formalism of the perception, estimation, and exploration algorithms used.

Central to the approach are the use of Bayesian estimation as a workhorse, and the assumption that perception and actions are inseparably intertwined. Traditionally, perception has been treated independently from action. For example, in computer vision, object representations are usually built by accumulating observations of a desired object from multiple vantage points, without paying much attention to the actions that produced such observations. On the other hand, typical motion planning methodologies rely on fully observable worlds. In the presence of uncertainty, we see the two, perception and action, inseparable, and have even shown in the past their degree of correlation for the common mobile robotics problem of simultaneous localization and mapping. Continuing our investigation on the link between perception and action with a sound theoretical framework will allow us to contribute to the creation of reliable intelligent systems able to deal with unstructured settings.

The two chosen application domains, manipulation of deformable objects, and outdoor SLAM, are commercially highly relevant application domains of vision/robot systems; and the proposed research activity will contribute to a more flexible and general use of robots in industrial production processes, as well as more robust service robots able to navigate and cooperate in previously unknown and unstructured environments.

Project Publications

Journal Publications

  • R. Valencia, M. Morta, J. Andrade-Cetto and J.M. Porta. Planning reliable paths with Pose SLAM. IEEE Transactions on Robotics, 29(4): 1050-1059, 2013.

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  • P. Jiménez. Survey on assembly sequencing: A combinatorial and geometrical perspective. Journal of Intelligent Manufacturing, 24(2): 235-250, 2013.

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  • P. Jiménez. Survey on model-based manipulation planning of deformable objects. Robotics and Computer-Integrated Manufacturing, 28(2): 154-163, 2012.

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  • M. Villamizar, J. Andrade-Cetto, A. Sanfeliu and F. Moreno-Noguer. Bootstrapping boosted random Ferns for discriminative and efficient object classification. Pattern Recognition, 45(9): 3141-3153, 2012.

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  • V. Ila, J.M. Porta and J. Andrade-Cetto. Amortized constant time state estimation in Pose SLAM and hierarchical SLAM using a mixed Kalman-information filter. Robotics and Autonomous Systems, 59(5): 310-318, 2011.

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  • S. Foix, G. Alenyà and C. Torras. Lock-in time-of-flight (ToF) cameras: a survey. IEEE Sensors Journal, 11(9): 1917-1926, 2011.

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  • T. Vidal-Calleja, A. Sanfeliu and J. Andrade-Cetto. Action selection for single-camera SLAM. IEEE Transactions on Systems, Man and Cybernetics: Part B, 40(6): 1567-1581, 2010.

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  • V. Ila, J.M. Porta and J. Andrade-Cetto. Information-based compact Pose SLAM. IEEE Transactions on Robotics, 26(1): 78-93, 2010.

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  • A. Sanfeliu, J. Andrade-Cetto, M. Barbosa, R. Bowden, J. Capitán, A. Corominas Murtra, A. Gilbert, J. Illingworth, L. Merino, J. M. Mirats Tur, P. Moreno, A. Ollero, J. Sequeira and M.T. Spaan. Decentralized sensor fusion for ubiquitous networking robotics in urban areas. Sensors, 10(3): 2274-2314, 2010.

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Conference Publications

  • C. Torras. From the Turing test to science fiction: The challenges of social robotics, 16th Catalan Conference on Artificial Intelligence, 2013, Vic, Spain, in Artificial Intelligence Research and Development, Vol 256 of Frontiers in Artificial Intelligence and Applications, pp. 5-7, 2013, IOS Press.

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  • R. Valencia, J. Valls Miró, G. Dissanayake and J. Andrade-Cetto. Active Pose SLAM, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, Vilamoura, Portugal, pp. 1885-1891, IEEE.

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  • F. Rigual, A. Ramisa, G. Alenyà and C. Torras. Object detection methods for robot grasping: Experimental assessment and tuning, 15th Catalan Conference on Artificial Intelligence, 2012, Alacant, in Artificial Intelligence Research and Development, Vol 248 of Frontiers in Artificial Intelligence and Applications, pp. 123-132, 2012, IOS Press.

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  • L. Rozo, P. Jiménez and C. Torras. Robot learning from demonstration in the force domain, 2011 IJCAI Workshop on Agents Learning Interactively from Human Teachers, 2011, Barcelona, Spain, pp. 1-6.

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  • L. Rozo, P. Jiménez and C. Torras. Robot learning from demonstration of force-based tasks with multiple solution trajectories, 15th International Conference on Advanced Robotics, 2011, Tallin, Estonia, pp. 124-129, IEEE.

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  • F. Moreno-Noguer and J.M. Porta. Probabilistic simultaneous pose and non-rigid shape recovery, 2011 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2011, Colorado Springs, pp. 1289-1296, IEEE Press.

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  • A.A. Ortega and J. Andrade-Cetto. Segmentation of dynamic objects from laser data, 5th European Conference on Mobile Robots, 2011, Örebro, Sweden, pp. 115-121, Örebro Univ.

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  • E.H. Teniente and J. Andrade-Cetto. FaMSA: Fast multi-scan alignment with partially known correspondences, 5th European Conference on Mobile Robots, 2011, Örebro, Sweden, pp. 139-144, Örebro Univ.

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  • F. Moreno-Noguer. Deformation and illumination invariant feature point descriptor, 2011 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2011, Colorado Springs, pp. 1593-1600, IEEE Press.

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  • E.H. Teniente, R. Valencia and J. Andrade-Cetto. Dense outdoor 3D mapping and navigation with Pose SLAM, 2011 Workshop de Robótica Experimental, 2011, Seville, pp. 567-572.

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  • S. Foix, G. Alenyà and C. Torras. Towards plant monitoring through next best view, 14th Catalan Conference on Artificial Intelligence, 2011, Lleida, in Artificial Intelligence Research and Development, Vol 232 of Frontiers in Artificial Intelligence and Applications, pp. 101-109, 2011, IOS Press.

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  • B. Dellen, G. Alenyà, S. Foix and C. Torras. Segmenting color images into surface patches by exploiting sparse depth data, 2011 IEEE Workshop on Applications of Computer Vision, 2011, Kona, Hawaii, pp. 591-598.

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  • G. Alenyà, F. Moreno-Noguer, A. Ramisa and C. Torras. Active perception of deformable objects using 3D cameras, 2011 Workshop de Robótica Experimental, 2011, Seville, pp. 434-440.

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  • M. Villamizar, H. Grabner, J. Andrade-Cetto, A. Sanfeliu, L. Van Gool and F. Moreno-Noguer. Efficient 3D object detection using multiple pose-specific classifiers, 2011 British Machine Vision Conference, 2011, Dundee, UK, pp. 20.1-20.10.

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  • A. Ramisa, G. Alenyà, F. Moreno-Noguer and C. Torras. Determining where to grasp cloth using depth information, 14th Catalan Conference on Artificial Intelligence, 2011, Lleida, in Artificial Intelligence Research and Development, Vol 232 of Frontiers in Artificial Intelligence and Applications, pp. 199-207, 2011, IOS Press.

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  • G. Alenyà, B. Dellen and C. Torras. 3D modelling of leaves from color and ToF data for robotized plant measuring, 2011 IEEE International Conference on Robotics and Automation, 2011, Shanghai, pp. 3408-3414, IEEE.

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  • E. Serradell, A. Romero, R. Leta, C. Gatta and F. Moreno-Noguer. Simultaneous correspondence and non-rigid 3D reconstruction of the coronary tree from single X-ray images, 13th International Conference on Computer Vision, 2011, Barcelona, pp. 850-857, IEEE.

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  • M. Villamizar, F. Moreno-Noguer, J. Andrade-Cetto and A. Sanfeliu. Detection performance evaluation of boosted random Ferns, 5th Iberian Conference on Pattern Recognition and Image Analysis, 2011, Las Palmas de Gran Canaria, in Pattern Recognition and Image Analysis, Vol 6669 of Lecture Notes in Computer Science, pp. 67-75, 2011, Springer.

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  • R. Valencia, J. Andrade-Cetto and J.M. Porta. Path planning in belief space with Pose SLAM, 2011 IEEE International Conference on Robotics and Automation, 2011, Shanghai, pp. 78-83, IEEE.

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  • L. Trilla and G. Alenyà. Planning stacking operations with an unknown number of objects, 7th International Conference on Informatics in Control, Automation and Robotics, 2010, Funchal, Madeira, pp. 348-353, INSTICC.

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  • S. Foix, G. Alenyà, J. Andrade-Cetto and C. Torras. Object modeling using a ToF camera under an uncertainty reduction approach, 2010 IEEE International Conference on Robotics and Automation, 2010, Anchorage, pp. 1306-1312.

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  • J. Sanchez, J. Ostlund, P. Fua and F. Moreno-Noguer. Simultaneous pose, correspondence and non-rigid shape, 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2010, San Francisco, pp. 1189-1196.

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  • M. Villamizar, F. Moreno-Noguer, J. Andrade-Cetto and A. Sanfeliu. Efficient rotation invariant object detection using boosted random Ferns, 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2010, San Francisco, pp. 1038-1045.

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  • M. Villamizar, F. Moreno-Noguer, J. Andrade-Cetto and A. Sanfeliu. Shared random Ferns for efficient detection of multiple categories, 20th International Conference on Pattern Recognition, 2010, Istanbul, Turkey, pp. 388-391.

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  • L. Rozo, P. Jiménez and C. Torras. Sharpening haptic inputs for teaching a manipulation skill to a robot, 1st IEEE International Conference on Applied Bionics and Biomechanics, 2010, Venice, pp. 331-340.

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  • F. Moreno-Noguer, J.M. Porta and P. Fua. Exploring ambiguities for monocular non-rigid shape estimation, 11th European Conference on Computer Vision, 2010, Crete, in Computer Vision - ECCV 2010, Vol 6313 of Lecture Notes in Computer Science, pp. 370-383, 2010, Springer, Berlin.

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  • E. Serradell, M. Özuysal, V. Lepetit, P. Fua and F. Moreno-Noguer. Combining geometric and appearance priors for robust homography estimation, 11th European Conference on Computer Vision, 2010, Crete, in Computer Vision - ECCV 2010, Vol 6313 of Lecture Notes in Computer Science, pp. 58-72, 2010, Springer, Berlin.

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  • M. Villamizar, J. Scandaliaris, A. Sanfeliu and J. Andrade-Cetto. Combining color-based invariant gradient detector with HoG descriptors for robust image detection in scenes under cast shadows, 2009 IEEE International Conference on Robotics and Automation, 2009, Kobe, Japó, pp. 1997-2002, IEEE.

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  • A.A. Ortega, I. Haddad and J. Andrade-Cetto. Graph-based segmentation of range data with applications to 3D urban mapping, 4th European Conference on Mobile Robots, 2009, Mlini, Croàcia, pp. 193-198, ECMR.

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  • V. Ila, J.M. Porta and J. Andrade-Cetto. Amortized constant time state estimation in SLAM using a mixed Kalman-information filter, 4th European Conference on Mobile Robots, 2009, Mlini, Croàcia, pp. 211-216, ECMR.

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  • G. Alenyà, A. Nègre and J. L. Crowley. Time to contact for obstacle avoidance, 4th European Conference on Mobile Robots, 2009, Mlini, Croàcia, pp. 19-24, ECMR.

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  • G. Alenyà, S. Hernández, J. Andrade-Cetto, A. Sanfeliu and C. Torras. Humanoid robotics and human-centered initiatives at IRI, XXX Jornadas de Automática, 2009, Valladolid, Espanya, pp. 1-8, 2009, Universidad de Valladolid, Valladolid, Espanya.

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  • V. Ila, J.M. Porta and J. Andrade-Cetto. Reduced state representation in delayed state SLAM, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, pp. 4919-4924.

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  • G. Alenyà, A. Nègre and J. L. Crowley. A comparison of three methods for measure of time to contact, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, pp. 4565-4570.

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  • A.A. Ortega, B. Dias, E.H. Teniente, A.J. Bernardino Malheiro, J. Gaspar and J. Andrade-Cetto. Calibrating an outdoor distributed camera network using laser range finder data, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, pp. 303-308.

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  • R. Valencia, E.H. Teniente, E. Trulls Fortuny and J. Andrade-Cetto. 3D mapping for urban service robots, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, pp. 3076-3081.

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  • J. Andrade-Cetto, A.A. Ortega, E.H. Teniente, E. Trulls Fortuny, R. Valencia and A. Sanfeliu. Combination of distributed camera network and laser-based 3D mapping for urban service robots, 2009 IROS Workshop on Network Robot Systems, 2009, Saint Louis, in Network Robot Services for the Elderly, pp. 69-80, IEEE.

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  • F. Moreno-Noguer, M. Salzmann, V. Lepetit and P. Fua. Capturing 3D stretchable surfaces from single images in closed form, 2009 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2009, Miami, pp. 1842-1849, IEEE.

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  • M. Villamizar, A. Sanfeliu and J. Andrade-Cetto. Local boosted features for pedestrian detection, 4th Iberian Conference on Pattern Recognition and Image Analysis, 2009, Povoa de Varzim, in Pattern Recognition and Image Analysis, Vol 5524 of Lecture Notes in Computer Science, pp. 128-135, 2009, Springer Verlag.

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Other Publications

  • R. Valencia and J. Andrade-Cetto. Mapping, Planning and Exploration with Pose SLAM. Volume 119 of Springer Tracts in Advanced Robotics. Springer, 2018.

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  • S. Manén. Simulación de objetos planos deformables con resolución de contactos y colisiones. Technical Report IRI-TR-10-10, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2010.

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  • R. Valencia, J. Andrade-Cetto and J.M. Porta. Path Planning with Pose SLAM. Technical Report IRI-DT-10-03, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2010.

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  • S. Foix, G. Alenyà and C. Torras. Exploitation of time-of-flight (ToF) cameras. Technical Report IRI-TR-10-07, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2010.

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