机器人相关学术速递[8.23]

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cs.RO机器人相关，共计9篇

【1】 Trans4Trans: Efficient Transformer for Transparent Object and Semantic Scene Segmentation in Real-World Navigation Assistance 标题：Trans4Trans：真实导航辅助中透明对象和语义场景分割的高效转换器 链接：https://arxiv.org/abs/2108.09174

作者：Jiaming Zhang,Kailun Yang,Angela Constantinescu,Kunyu Peng,Karin Müller,Rainer Stiefelhagen 机构："Obstacle", Trans,Trans 备注：Extended version of arXiv:2107.03172 摘要：透明物体，如玻璃墙和门，构成阻碍视力低下或失明者行动的建筑障碍。例如，玻璃门后面的开放空间是无法进入的，除非它被正确感知并与人互动。然而，传统的辅助技术很少涵盖这些安全关键的透明对象的分割。在本文中，我们利用一种新型的双头透明Transformer（Trans4Trans）感知模型构建了一个可穿戴系统，该模型可以分割普通物体和透明物体。这两个密集的分割结果进一步与系统中的深度信息相结合，以帮助用户安全导航并帮助他们越过透明的障碍物。我们提出了一个轻量级转换器解析模块（TPM），用于在基于转换器的解码器中执行多尺度特征解释。得益于TPM，双解码器可以从相应的数据集执行联合学习，以追求鲁棒性，同时在便携式GPU上保持效率，而计算量的增加可以忽略不计。整个Trans4Trans模型采用对称编码器-解码器体系结构，在Stanford2D3D和Trans10K-v2数据集的测试集上优于最先进的方法，分别获得45.13%和75.14%的mIoU。通过用户研究和在室内外场景中进行的各种预测试，我们的辅助系统的可用性和可靠性已得到广泛验证。同时，Tran4Trans模型在驾驶场景数据集上具有优异的性能。在与常见环境、恶劣天气和交通事故场景相对应的城市景观、ACDC和DADA seg数据集上，mIoU分数分别为81.5%、76.3%和39.2%，证明了其在现实交通应用中的高效性和鲁棒性。 摘要：Transparent objects, such as glass walls and doors, constitute architectural obstacles hindering the mobility of people with low vision or blindness. For instance, the open space behind glass doors is inaccessible, unless it is correctly perceived and interacted with. However, traditional assistive technologies rarely cover the segmentation of these safety-critical transparent objects. In this paper, we build a wearable system with a novel dual-head Transformer for Transparency (Trans4Trans) perception model, which can segment general- and transparent objects. The two dense segmentation results are further combined with depth information in the system to help users navigate safely and assist them to negotiate transparent obstacles. We propose a lightweight Transformer Parsing Module (TPM) to perform multi-scale feature interpretation in the transformer-based decoder. Benefiting from TPM, the double decoders can perform joint learning from corresponding datasets to pursue robustness, meanwhile maintain efficiency on a portable GPU, with negligible calculation increase. The entire Trans4Trans model is constructed in a symmetrical encoder-decoder architecture, which outperforms state-of-the-art methods on the test sets of Stanford2D3D and Trans10K-v2 datasets, obtaining mIoU of 45.13% and 75.14%, respectively. Through a user study and various pre-tests conducted in indoor and outdoor scenes, the usability and reliability of our assistive system have been extensively verified. Meanwhile, the Tran4Trans model has outstanding performances on driving scene datasets. On Cityscapes, ACDC, and DADA-seg datasets corresponding to common environments, adverse weather, and traffic accident scenarios, mIoU scores of 81.5%, 76.3%, and 39.2% are obtained, demonstrating its high efficiency and robustness for real-world transportation applications.

【2】 Path Planning With Naive-Valley-Path Obstacle Avoidance and Global Map-Free 标题：基于朴素谷地路径避障和全局无地图的路径规划 链接：https://arxiv.org/abs/2108.09117

作者：Miguel Angel Munoz-Banon,Edison Velasco-Sanchez,Francisco A. Candelas,Fernando Torres 备注：This paper was submitted to "IEEE Robotics and Automation Letters" and is currently being reviewed 摘要：在本文中，我们提出了一种完整的路径规划方法，分为两大类：全局路径规划（GPP）和局部路径规划（LPP）。与大多数其他作品不同，GPP层使用直接从OpenStreetMaps（OSM）等互联网应用程序获取的道路和交叉口图形，而不是复杂而繁重的地图。此无地图GPP使我们不受公共区域大小限制。在LPP层，我们使用一种新的朴素谷路径方法（NVP）在极低的执行时间内生成一条避免道路障碍物的局部路径。该方法利用了局部极小值周围山谷区域的概念，即始终远离障碍物的区域。我们证明了系统的鲁棒性在我们的研究平台蓝，驾驶自主跨越阿利坎特大学科技园超过20公里在12.33公顷的地区。我们的车辆避免了道路上不同的静态持久性和非持久性障碍物，甚至避免了动态障碍物，如车辆和行人。代码可在https://github.com/AUROVA-LAB/lib_planning. 摘要：In this paper, we present a complete Path Planning approach divided into two main categories: Global Path Planning (GPP) and Local Path Planning (LPP). Unlike most other works, the GPP layer, instead of complex and heavy maps, uses road and intersections graphs obtained directly from internet applications like OpenStreetMaps (OSM). This map-free GPP frees us from the common area-size restrictions. In the LPP layer, we use a novel Naive-Valley-Path method (NVP) to generate a local path avoiding obstacles in the road in an extremely-low execution time period. This approach exploits the concept of valley areas around local minima, i.e., the ones always away from obstacles. We demonstrate the robustness of the system in our research platform BLUE, driving autonomously across the University of Alicante Scientific Park for more than 20 km in a 12.33 ha area. Our vehicle avoids different static persistent and non-persistent obstacles in the road and even dynamic ones, such as vehicles and pedestrians. Code is available at https://github.com/AUROVA-LAB/lib_planning.

【3】 Order assignment and picking station scheduling for multiple stations in KIVA warehouses 标题：Kiva仓库多站订单分配与拣货站调度 链接：https://arxiv.org/abs/2108.09056

作者：Xiying Yang,Guowei Hua,Linyuan Hu,T. C. E Cheng,Tsan Ming Choi 机构：School of Economics and Management, Beijing Jiaotong University, Beijing , China, Department of Logistics and Maritime Studies, The Hong Kong Polytechnic University, Hung Hom, Hong Kong, China 摘要：KIVA机器人辅助仓库的拣选效率得益于订单分配和拣选站调度之间的协同效应。我们处理一个综合优化，其中包括将订单和机架分配给多个站点，并同时对每个站点的互连处理流进行排序。我们的问题中包含的各种决策密切相关，必须实时解决，过去常常单独处理，以便于处理。然而，我们在考虑最小总机架访问量的情况下开发了一个综合数学模型。这个问题可以证明是NP难问题。因此，开发了一种基于模拟退火和动态规划的高效算法。实验结果表明，与实际的基于规则的策略相比，该方法在解决方案质量方面具有更大的优势。此外，结果表明，忽略订单分配策略会导致在实际规模设置下存在相当大的最优差距。 摘要：The picking efficiency of warehouses assisted by KIVA robots benefit from exploiting synergy effect between order assignment and picking station scheduling. We treat an integrated optimization which contains both allocating orders and racks to multiple stations and concurrently sequencing their interlinked processing flows at each individual one. The various decisions included in our problem, which are closely associated and must be solved in real time, are often tackled separately for ease of treatment in past. We, however, develop a comprehensive mathematical model under the consideration of the minimum total rack visits. The problem can be proven NP-hard. Consequently, an efficient algorithm based on simulated annealing and dynamic programming is developed. The experimental results show that the proposed approach has more advantage in the light of solution quality as compared with actual rule-based policies. Moreover, the results reveal that ignoring order assignment policy leads to considerable optimality gaps under realistically sized settings.

【4】 AutoLay: Benchmarking amodal layout estimation for autonomous driving 标题：AutoLay：自动驾驶的基准非模态布局估计 链接：https://arxiv.org/abs/2108.09047

作者：Kaustubh Mani,N. Sai Shankar,Krishna Murthy Jatavallabhula,K. Madhava Krishna 机构：Robotics Research Center, KCIS,IIIT Hyderabad,Mila - Quebec AI Institute, Montreal,Université de Montréal 备注：published in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 摘要：给定从单目摄像机捕获的图像或视频，amodal布局估计的任务是预测鸟瞰视图中的语义和占用率。术语amodal意味着我们还可以对场景中的实体进行推理，这些实体在图像空间中被遮挡或截断。虽然最近的一些努力已经解决了这个问题，但在任务规范、数据集和评估协议方面缺乏标准化。我们使用AutoLay解决了这些问题，AutoLay是一个数据集，也是一个基准，用于从单目图像中估计amodal布局。AutoLay包含来自两个流行数据集的驾驶图像：KITTI和Argoverse。除了车道、人行道和车辆等细粒度属性外，我们还提供语义注释的三维点云。我们实现了一些基线和前沿方法，并发布了我们的数据和代码。 摘要：Given an image or a video captured from a monocular camera, amodal layout estimation is the task of predicting semantics and occupancy in bird's eye view. The term amodal implies we also reason about entities in the scene that are occluded or truncated in image space. While several recent efforts have tackled this problem, there is a lack of standardization in task specification, datasets, and evaluation protocols. We address these gaps with AutoLay, a dataset and benchmark for amodal layout estimation from monocular images. AutoLay encompasses driving imagery from two popular datasets: KITTI and Argoverse. In addition to fine-grained attributes such as lanes, sidewalks, and vehicles, we also provide semantically annotated 3D point clouds. We implement several baselines and bleeding edge approaches, and release our data and code.

【5】 The Importance of Autonomous Driving Using 5G Technology 标题：利用5G技术实现自动驾驶的重要性 链接：https://arxiv.org/abs/2108.08966

作者：Yuanzhe Jin,Neelanshi Varia,Chixiang Wang 机构：Northwestern University, Evanston, IL, USA 摘要：自动驾驶的三个关键是传感器、数据集成和100%安全决策。在过去，由于网络的高延迟和低可靠性，许多决策必须在车内本地做出。这对车辆本身提出了很高的要求，导致自动驾驶的商业化进程缓慢。随着5G的出现，这些情况将大大改善。在本文中，我们介绍了5G技术给自动驾驶汽车带来的改进，特别是在众多其他因素中，在延迟和可靠性方面。本文分析了5G在自动驾驶车辆和智能交通系统（ITS）方面可以改进的具体领域，并展望了5G技术在未来的应用。 摘要：The three keys to autonomous driving are sensors, data integration, and 100% safety decisions. In the past, due to the high latency and low reliability of the network, many decisions had to be made locally in the vehicle. This puts high demands on the vehicle itself, which results in the dilatory commercialization of automatic driving. With the advent of 5G, these situations will be greatly improved. In this paper, we present the improvements that 5G technology brings to autonomous vehicles especially in terms of latency and reliability amongst the multitude of other factors. The paper analyzes the specific areas where 5G can improve for autonomous vehicles and Intelligent Transport Systems in general (ITS) and looks forward to the application of 5G technology in the future.

【6】 Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics 标题：基于分解二次曲面的图SLAM优化几何基元的统一表示 链接：https://arxiv.org/abs/2108.08957

作者：Weikun Zhen,Huai Yu,Yaoyu Hu,Sebastian Scherer 机构：Weikun Zhen is with the Department of Mechanical Engineering, Yaoyu Hu and Sebastian Scherer are with the Robotics Institute, Allauthors are with the Carnegie Mellon University 备注：7 pages, to be submitted to ICRA 2022 摘要：在同步定位和地图（SLAM）问题中，与传统的基于点的地标相比，高级地标具有构建紧凑且信息丰富的地图的潜力。这项工作的重点是最常用的高级几何图元的参数化问题，包括点、线、平面、椭球体、圆柱体和圆锥体。我们首先使用{emph{quadracs}给出了这些几何原语的统一表示，这产生了一致且简洁的公式。然后进一步研究了二次曲面的分解模型，揭示了二次曲面的对称性和退化性。在分解的基础上，我们在图SLAM问题的设置中开发了具有物理意义的二次曲面因子。最后，仿真实验表明，与基线参数化方法相比，分解公式具有更好的效率和对观测噪声的鲁棒性。在真实世界的实验中，所提出的后端框架被证明能够构建紧凑的正则化地图。 摘要：In Simultaneous Localization And Mapping (SLAM) problems, high-level landmarks have the potential to build compact and informative maps compared to traditional point-based landmarks. This work is focused on the parameterization problem of high-level geometric primitives that are most frequently used, including points, lines, planes, ellipsoids, cylinders, and cones. We first present a unified representation of those geometric primitives using \emph{quadrics} which yields a consistent and concise formulation. Then we further study a decomposed model of quadrics that discloses the symmetric and degenerated nature of quadrics. Based on the decomposition, we develop physically meaningful quadrics factors in the settings of the graph-SLAM problem. Finally, in simulation experiments, it is shown that the decomposed formulation has better efficiency and robustness to observation noises than baseline parameterizations. And in real-world experiments, the proposed back-end framework is demonstrated to be capable of building compact and regularized maps.

【7】 Distributed Transformations of Hamiltonian Shapes based on Line Moves 标题：基于直线运动的哈密顿形状的分布式变换 链接：https://arxiv.org/abs/2108.08953

作者：Abdullah Almethen,Othon Michail,Igor Potapov 机构：Department of Computer Science, University of Liverpool, Liverpool, UK 备注：31 pages, 18 figures 摘要：我们考虑一个$$$简单的不可区分的设备的离散系统，称为\EMPH{Agent }，在二维正方形网格上形成一个\EMPH{Held}形状$Syi-$。代理配备了一种线性强度机制，称为\emph{line move}，通过该机制，代理可以在一个时间步长内沿四个方向中的一个方向推动一整行连续代理。我们研究了在分布式模型中，通过有限的直线运动序列将初始形状$S_I$转换为给定的目标形状$S_F$的问题，其中每个代理可以观察摩尔邻域中附近代理的状态。我们的主要贡献是第一个分布式连接性保护转换，它利用总共$O（n\log_2 n）$moves内的线移动，这与最著名的集中式转换是渐近等效的。该算法解决了\emph{line formation problem}，该问题允许代理从任何形状$S_I$开始形成最终的直线$S_L$，其\emph{associated graph}包含哈密顿路径。 摘要：We consider a discrete system of $n$ simple indistinguishable devices, called \emph{agents}, forming a \emph{connected} shape $S_I$ on a two-dimensional square grid. Agents are equipped with a linear-strength mechanism, called a \emph{line move}, by which an agent can push a whole line of consecutive agents in one of the four directions in a single time-step. We study the problem of transforming an initial shape $S_I$ into a given target shape $S_F$ via a finite sequence of line moves in a distributed model, where each agent can observe the states of nearby agents in a Moore neighbourhood. Our main contribution is the first distributed connectivity-preserving transformation that exploits line moves within a total of $O(n \log_2 n)$ moves, which is asymptotically equivalent to that of the best-known centralised transformations. The algorithm solves the \emph{line formation problem} that allows agents to form a final straight line $S_L$, starting from any shape $ S_I $, whose \emph{associated graph} contains a Hamiltonian path.

【8】 Symplectic Integration for Multivariate Dynamic Spline-Based Model of Deformable Linear Objects 标题：基于多变量动态样条的线性变形体模型的辛积分 链接：https://arxiv.org/abs/2108.08935

作者：Alaa Khalifa,Gianluca Palli 机构：Department of Electrical, Electronic and Information Engineering, University of Bologna, Italy, On leave from Department of Industrial Electronics and Control Engineering, Menoufia University, Egypt 备注：12 pages, 12 figures, journal paper 摘要：可变形线性对象（DLO），如绳索、电缆和外科缝线，在汽车工程、外科手术和机电行业有着广泛的用途。因此，DLO的建模以及预测DLO行为的有效计算方法非常重要，特别是对于DLO的机器人操作。这项工作的主要动机是能够有效预测机器人操作过程中的DLO行为。本文采用多变量动态样条函数对DLO进行建模，在操作过程中通过插值DLO形状，采用辛积分方法对模型进行迭代求解。比较了辛积分、龙格-库塔积分和翟积分。结果表明，辛积分器在预测DLO行为方面优于其他积分方法。此外，报告了通过辛方法整合不同模型参数集所获得的结果，以显示它们如何影响DLO行为估计。 摘要：Deformable Linear Objects (DLOs) such as ropes, cables, and surgical sutures have a wide variety of uses in automotive engineering, surgery, and electromechanical industries. Therefore, modeling of DLOs as well as a computationally efficient way to predict the DLO behavior are of great importance, in particular to enable robotic manipulation of DLOs. The main motivation of this work is to enable efficient prediction of the DLO behavior during robotic manipulation. In this paper, the DLO is modeled by a multivariate dynamic spline, while a symplectic integration method is used to solve the model iteratively by interpolating the DLO shape during the manipulation process. Comparisons between the symplectic, Runge-Kutta and Zhai integrators are reported. The presented results show the capabilities of the symplectic integrator to overcome other integration methods in predicting the DLO behavior. Moreover, the results obtained with different sets of model parameters integrated by means of the symplectic method are reported to show how they influence the DLO behavior estimation.

【9】 Deep Learning-based Spacecraft Relative Navigation Methods: A Survey 标题：基于深度学习的航天器相对导航方法综述 链接：https://arxiv.org/abs/2108.08876

作者：Jianing Song,Duarte Rondao,Nabil Aouf 机构：City, University of London, ECV,HB London, United Kingdom 备注：41 pages; 17 figures; Submitted to Acta Astronautica, under review 摘要：自主航天器相对导航技术已被规划用于许多著名的空间任务。车载电子系统的发展使得基于视觉和基于激光雷达的方法能够实现更好的性能。与此同时，深度学习在各个领域都取得了巨大的成功，特别是在计算机视觉领域，这也引起了空间研究者的关注。然而，由于可靠性要求高，但缺乏大型数据集，航天器导航不同于地面任务。本次调查旨在系统研究当前基于深度学习的自主航天器相对导航方法，重点是航天器在小天体或月球上交会和着陆等具体轨道应用。首先从航天器交会、小行星探测和地形导航三个角度总结了基于深度学习的相对导航算法的基本特征、主要动机和贡献。此外，比较和总结了流行的视觉跟踪基准及其各自的特性。最后，讨论了潜在的应用，以及预期的障碍。 摘要：Autonomous spacecraft relative navigation technology has been planned for and applied to many famous space missions. The development of on-board electronics systems has enabled the use of vision-based and LiDAR-based methods to achieve better performances. Meanwhile, deep learning has reached great success in different areas, especially in computer vision, which has also attracted the attention of space researchers. However, spacecraft navigation differs from ground tasks due to high reliability requirements but lack of large datasets. This survey aims to systematically investigate the current deep learning-based autonomous spacecraft relative navigation methods, focusing on concrete orbital applications such as spacecraft rendezvous and landing on small bodies or the Moon. The fundamental characteristics, primary motivations, and contributions of deep learning-based relative navigation algorithms are first summarised from three perspectives of spacecraft rendezvous, asteroid exploration, and terrain navigation. Furthermore, popular visual tracking benchmarks and their respective properties are compared and summarised. Finally, potential applications are discussed, along with expected impediments.