Emanuele Menegatti - Academia.edu (original) (raw)

Papers by Emanuele Menegatti

Research paper thumbnail of Middle size robot league rules and regulations for 2004

This is the final version (ver. 8) of the rules that will be used for the 8th robot soccer world ... more This is the final version (ver. 8) of the rules that will be used for the 8th robot soccer world championships, to be held in Lisbon 2004 and for MSL competitions in 2004.

Research paper thumbnail of A New Omnidirectional Vision Sensor for Monte-Carlo Localization

Lecture Notes in Computer Science, 2005

In this paper, we present a new approach for omnidirectional vision-based self-localization in th... more In this paper, we present a new approach for omnidirectional vision-based self-localization in the RoboCup Middle-Size League. The omnidirectional vision sensor is used as a range finder (like a laser or a sonar) sensitive to colors transitions instead of nearest obstacles. This makes it possible to have a more reach information about the environment, because it is possible to discriminate between different objects painted in different colors. We implemented a Monte-Carlo localization system slightly adapted to this new type of range sensor. The system runs in real time on a low-cost pc. Experiments demonstrated the robustness of the approach. Event if the system was implemented and tested in the RoboCup Middle-Size field, the system could be used in other environments.

Research paper thumbnail of Fourier signature in log-polar images

Visapp, 2007

In image-based robot navigation, the robot localises itself by comparing images taken at its curr... more In image-based robot navigation, the robot localises itself by comparing images taken at its current position with a set of reference images stored in its memory. The problem is then reduced to find a suitable metric to compare images, and then to store and compare efficiently a set of images that grows quickly as the environment widen. The coupling of omnidirectional image with Fouriersignature has been previously proved to be a viable framework for image-based localization task, both with regard to data reduction and to image comparison. In this paper, we investigate the possibility of using a space variant camera, with the photosensitive elements organised in a log polar layout, thus resembling the organization of the primate retina. We show that an omnidirectional camera using this retinal camera, provides a further data compression and excellent image comparison capability, even with very few components in the Fourier signature.

Research paper thumbnail of GMM-based Single-joint Angle Estimation using EMG signals

This paper aims to explore the possibility to use Electromyography (EMG) to train a Gaussian Mixt... more This paper aims to explore the possibility to use Electromyography (EMG) to train a Gaussian Mixture Model (GMM) in order to estimate the bending angle of a single human joint. In particular, EMG signals from eight leg muscles and the knee joint angle are acquired during a kick task from three different subjects. GMM is validated on new unseen data and the classification performances are compared with respect to the number of EMG channels and the number of collected trials used during the training phase. Achieved results show that our framework is able to obtain high performances even using few EMG channels and with a small training dataset(Normalized Mean Square Error: 0.96, 0.98, 0.98 for the three subjects, respectively), opening new and interesting perspectives for the hybrid control of humanoid robots and exoskeletons.

Research paper thumbnail of Recognition of Smart Objects by a Mobile Robot using SIFT-based Image Recognition and Wireless Communication

In this work, we focus on the problem of object location and recognition by an autonomous mobile ... more In this work, we focus on the problem of object location and recognition by an autonomous mobile robot. In our approach, the robot does not have any prior knowledge about the form and multiplicity of the objects. The robot, however, is equipped with an onboard camera and both objects and robot are capable of exchanging data by using a common low-cost, low-rate wireless technology, namely a TmoteSky mote. The small storage memory of the mote is used to store a simple communication protocol and a description of the physical appearance of the object, encoded by means of a set of Scale Invariant Feature Transform (SIFT) descriptors. The mobile robot queries the surrounding smart objects by sending a broadcast query packet through the wireless interface. The smart objects that receive such a query reply by sending their ID and a selection of the SIFTS that describe their appearance. When a subset of the SIFT descriptors extracted by the current image of the robot's camera matches the SIFT descriptors received from a smart objects, the robot can locate the object in its current view and autonomously navigate towards the object, interacting with it.

Research paper thumbnail of Recognition of Smart Objects by a Mobile Robot using SIFT-based Image Recognition and Wireless Communication

In this work, we focus on the problem of object location and recognition by an autonomous mobile ... more In this work, we focus on the problem of object location and recognition by an autonomous mobile robot. In our approach, the robot does not have any prior knowledge about the form and multiplicity of the objects. The robot, however, is equipped with an onboard camera and both objects and robot are capable of exchanging data by using a common low-cost, low-rate wireless technology, namely a TmoteSky mote. The small storage memory of the mote is used to store a simple communication protocol and a description of the physical appearance of the object, encoded by means of a set of Scale Invariant Feature Transform (SIFT) descriptors. The mobile robot queries the surrounding smart objects by sending a broadcast query packet through the wireless interface. The smart objects that receive such a query reply by sending their ID and a selection of the SIFTS that describe their appearance. When a subset of the SIFT descriptors extracted by the current image of the robot's camera matches the SIFT descriptors received from a smart objects, the robot can locate the object in its current view and autonomously navigate towards the object, interacting with it.

Research paper thumbnail of Humanoid soccer robots

Ras, 2009

Humanoid robots are enjoying increasing popularity as a research tool. As step towards the long-t... more Humanoid robots are enjoying increasing popularity as a research tool. As step towards the long-term goal of winning against the FIFA world champion, the RoboCup Federation added in 2002 a league for humanoid robots to its annual soccer competitions. In this paper, the Humanoid League competitions that took place so far are reviewed. The different approaches for the design of robot hardware and the software for perception and behavior control of soccer playing humanoid robots are discussed. The paper concludes with an outlook to the future of the RoboCup Humanoid League.

Research paper thumbnail of A robust and easy to implement method for IMU calibration without external equipments

ABSTRACT Motion sensors as inertial measurement units (IMU) are widely used in robotics, for inst... more ABSTRACT Motion sensors as inertial measurement units (IMU) are widely used in robotics, for instance in the navigation and mapping tasks. Nowadays, many low cost micro electro mechanical systems (MEMS) based IMU are available off the shelf, while smartphones and similar devices are almost always equipped with low-cost embedded IMU sensors. Nevertheless, low cost IMUs are affected by systematic error given by imprecise scaling factors and axes misalignments that decrease accuracy in the position and attitudes estimation. In this paper, we propose a robust and easy to implement method to calibrate an IMU without any external equipment. The procedure is based on a multi-position scheme, providing scale and misalignments factors for both the accelerometers and gyroscopes triads, while estimating the sensor biases. Our method only requires the sensor to be moved by hand and placed in a set of different, static positions (attitudes). We describe a robust and quick calibration protocol that exploits an effective parameterless static filter to reliably detect the static intervals in the sensor measurements, where we assume local stability of the gravity's magnitude and stable temperature. We first calibrate the accelerometers triad taking measurement samples in the static intervals. We then exploit these results to calibrate the gyroscopes, employing a robust numerical integration technique. The performances of the proposed calibration technique has been successfully evaluated via extensive simulations and real experiments with a commercial IMU provided with a calibration certificate as reference data.

Research paper thumbnail of A robust and easy to implement method for IMU calibration without external equipments

ABSTRACT Motion sensors as inertial measurement units (IMU) are widely used in robotics, for inst... more ABSTRACT Motion sensors as inertial measurement units (IMU) are widely used in robotics, for instance in the navigation and mapping tasks. Nowadays, many low cost micro electro mechanical systems (MEMS) based IMU are available off the shelf, while smartphones and similar devices are almost always equipped with low-cost embedded IMU sensors. Nevertheless, low cost IMUs are affected by systematic error given by imprecise scaling factors and axes misalignments that decrease accuracy in the position and attitudes estimation. In this paper, we propose a robust and easy to implement method to calibrate an IMU without any external equipment. The procedure is based on a multi-position scheme, providing scale and misalignments factors for both the accelerometers and gyroscopes triads, while estimating the sensor biases. Our method only requires the sensor to be moved by hand and placed in a set of different, static positions (attitudes). We describe a robust and quick calibration protocol that exploits an effective parameterless static filter to reliably detect the static intervals in the sensor measurements, where we assume local stability of the gravity's magnitude and stable temperature. We first calibrate the accelerometers triad taking measurement samples in the static intervals. We then exploit these results to calibrate the gyroscopes, employing a robust numerical integration technique. The performances of the proposed calibration technique has been successfully evaluated via extensive simulations and real experiments with a commercial IMU provided with a calibration certificate as reference data.

Research paper thumbnail of Combining Audio and Video Surveillance with a Mobile Robot

International Journal of Artificial Intelligence Tools, 2007

This paper presents a Distributed Perception System for application of intelligent surveillance. ... more This paper presents a Distributed Perception System for application of intelligent surveillance. The system prototype presented in this paper is composed of a static acoustic agent and a static vision agent cooperating with a mobile vision agent mounted on a mobile robot. The audio and video sensors distributed in the environment are used as a single sensor to reveal and track the presence of a person in the surveilled environment. The robot extends the capabilities of the system by adding a mobile sensor (in this work an omnidirectional camera). The mobile omnidirectional camera can be used to have a closer look of the scene or to inspect portions of the environment not covered by the fix sensory agents. In this paper, the hardware and the software architecture of the system and of its sensors are presented. Experiments on the integration of the audio localization data and on the video localization data are reported.

Research paper thumbnail of Combining Audio and Video Surveillance with a Mobile Robot

International Journal of Artificial Intelligence Tools, 2007

This paper presents a Distributed Perception System for application of intelligent surveillance. ... more This paper presents a Distributed Perception System for application of intelligent surveillance. The system prototype presented in this paper is composed of a static acoustic agent and a static vision agent cooperating with a mobile vision agent mounted on a mobile robot. The audio and video sensors distributed in the environment are used as a single sensor to reveal and track the presence of a person in the surveilled environment. The robot extends the capabilities of the system by adding a mobile sensor (in this work an omnidirectional camera). The mobile omnidirectional camera can be used to have a closer look of the scene or to inspect portions of the environment not covered by the fix sensory agents. In this paper, the hardware and the software architecture of the system and of its sensors are presented. Experiments on the integration of the audio localization data and on the video localization data are reported.

Research paper thumbnail of Scalable Dense Large-Scale Mapping and Navigation

This paper describes a scalable dense 3D reconstruction and navigation system suitable for real-t... more This paper describes a scalable dense 3D reconstruction and navigation system suitable for real-time operation.

Research paper thumbnail of Scalable Dense Large-Scale Mapping and Navigation

This paper describes a scalable dense 3D reconstruction and navigation system suitable for real-t... more This paper describes a scalable dense 3D reconstruction and navigation system suitable for real-time operation.

Research paper thumbnail of Teaching humanoid robotics by means of human teleoperation through RGB-D sensors

Robotics and Autonomous Systems, 2015

Research paper thumbnail of Why teach robotics using ROS ?

Journal of Automation Mobile Robotics and Intelligent Systems, 2014

This paper focuses on the key role played by the adop on of a framework in teaching robo cs with ... more This paper focuses on the key role played by the adop on of a framework in teaching robo cs with a computer science approach in the master in Computer Engineering. The framework adopted is the Robot Opera ng System (ROS), which is becoming a standard de facto inside the robo cs community. The educa onal ac vi es proposed in this paper are based on a construc onist approach. The Mindstorms NXT robot kit is adopted to trigger the learning challenge. The ROS framework is exploited to drive the students programming methodology during the laboratory ac vi es and to allow students to exercise with the major computer programming paradigms and the best programming prac ces. The major robo cs topics students are involved with are: acquiring data from sensors, connec ng sensors to the robot, and navigate the robot to reach the final goal. The posi ve effects given by this approach are highlighted in this paper by comparing the work recently produced by students with the work produced in the previous years in which ROS was not yet adopted and many different so ware tools and languages were used. The results of a ques onnaire are reported showing that we achieved the didac cal objecves we expected as instructors.

Research paper thumbnail of How a coopeartive behaviour can emerge from a robot team

Research paper thumbnail of Smart Check 3D: An Industrial Inspection System Combining 3D Vision with Automatic Planning of Inspection Viewpoints

Advances in Computer Vision and Pattern Recognition, 2015

Research paper thumbnail of Efficient Completeness Inspection Using Real-Time 3D Color Reconstruction with a Dual-Laser Triangulation System

Advances in Computer Vision and Pattern Recognition, 2015

Research paper thumbnail of Hierarchical Image-based Localisation for Mobile Robots with Monte-Carlo Localisation

This paper extends our previous works on image-based localisation for mobile robot. The image-bas... more This paper extends our previous works on image-based localisation for mobile robot. The image-based localisation consists in matching the current view experienced by the robot with the reference views stored in the visual memory of the robot. The original idea was to use the Fourier components as signatures for the omnidirectional images acquired by the robot. The extensions proposed in this paper are: the possibility to have a localisation with different accuracy while the robot navigates (called hierarchical localisation) and the introduction of a Monte-Carlo localisation technique to increase the robustness of the system in environments where the image-based localisation can be mislead. Experiments demonstrated the feasibility of the hierarchical localisation and the robustness of the implementation of our Monte-Carlo localisation.

Research paper thumbnail of Hierarchical Image-based Localisation for Mobile Robots with Monte-Carlo Localisation

This paper extends our previous works on image-based localisation for mobile robot. The image-bas... more This paper extends our previous works on image-based localisation for mobile robot. The image-based localisation consists in matching the current view experienced by the robot with the reference views stored in the visual memory of the robot. The original idea was to use the Fourier components as signatures for the omnidirectional images acquired by the robot. The extensions proposed in this paper are: the possibility to have a localisation with different accuracy while the robot navigates (called hierarchical localisation) and the introduction of a Monte-Carlo localisation technique to increase the robustness of the system in environments where the image-based localisation can be mislead. Experiments demonstrated the feasibility of the hierarchical localisation and the robustness of the implementation of our Monte-Carlo localisation.

Research paper thumbnail of Middle size robot league rules and regulations for 2004

This is the final version (ver. 8) of the rules that will be used for the 8th robot soccer world ... more This is the final version (ver. 8) of the rules that will be used for the 8th robot soccer world championships, to be held in Lisbon 2004 and for MSL competitions in 2004.

Research paper thumbnail of A New Omnidirectional Vision Sensor for Monte-Carlo Localization

Lecture Notes in Computer Science, 2005

In this paper, we present a new approach for omnidirectional vision-based self-localization in th... more In this paper, we present a new approach for omnidirectional vision-based self-localization in the RoboCup Middle-Size League. The omnidirectional vision sensor is used as a range finder (like a laser or a sonar) sensitive to colors transitions instead of nearest obstacles. This makes it possible to have a more reach information about the environment, because it is possible to discriminate between different objects painted in different colors. We implemented a Monte-Carlo localization system slightly adapted to this new type of range sensor. The system runs in real time on a low-cost pc. Experiments demonstrated the robustness of the approach. Event if the system was implemented and tested in the RoboCup Middle-Size field, the system could be used in other environments.

Research paper thumbnail of Fourier signature in log-polar images

Visapp, 2007

In image-based robot navigation, the robot localises itself by comparing images taken at its curr... more In image-based robot navigation, the robot localises itself by comparing images taken at its current position with a set of reference images stored in its memory. The problem is then reduced to find a suitable metric to compare images, and then to store and compare efficiently a set of images that grows quickly as the environment widen. The coupling of omnidirectional image with Fouriersignature has been previously proved to be a viable framework for image-based localization task, both with regard to data reduction and to image comparison. In this paper, we investigate the possibility of using a space variant camera, with the photosensitive elements organised in a log polar layout, thus resembling the organization of the primate retina. We show that an omnidirectional camera using this retinal camera, provides a further data compression and excellent image comparison capability, even with very few components in the Fourier signature.

Research paper thumbnail of GMM-based Single-joint Angle Estimation using EMG signals

This paper aims to explore the possibility to use Electromyography (EMG) to train a Gaussian Mixt... more This paper aims to explore the possibility to use Electromyography (EMG) to train a Gaussian Mixture Model (GMM) in order to estimate the bending angle of a single human joint. In particular, EMG signals from eight leg muscles and the knee joint angle are acquired during a kick task from three different subjects. GMM is validated on new unseen data and the classification performances are compared with respect to the number of EMG channels and the number of collected trials used during the training phase. Achieved results show that our framework is able to obtain high performances even using few EMG channels and with a small training dataset(Normalized Mean Square Error: 0.96, 0.98, 0.98 for the three subjects, respectively), opening new and interesting perspectives for the hybrid control of humanoid robots and exoskeletons.

Research paper thumbnail of Recognition of Smart Objects by a Mobile Robot using SIFT-based Image Recognition and Wireless Communication

In this work, we focus on the problem of object location and recognition by an autonomous mobile ... more In this work, we focus on the problem of object location and recognition by an autonomous mobile robot. In our approach, the robot does not have any prior knowledge about the form and multiplicity of the objects. The robot, however, is equipped with an onboard camera and both objects and robot are capable of exchanging data by using a common low-cost, low-rate wireless technology, namely a TmoteSky mote. The small storage memory of the mote is used to store a simple communication protocol and a description of the physical appearance of the object, encoded by means of a set of Scale Invariant Feature Transform (SIFT) descriptors. The mobile robot queries the surrounding smart objects by sending a broadcast query packet through the wireless interface. The smart objects that receive such a query reply by sending their ID and a selection of the SIFTS that describe their appearance. When a subset of the SIFT descriptors extracted by the current image of the robot's camera matches the SIFT descriptors received from a smart objects, the robot can locate the object in its current view and autonomously navigate towards the object, interacting with it.

Research paper thumbnail of Recognition of Smart Objects by a Mobile Robot using SIFT-based Image Recognition and Wireless Communication

In this work, we focus on the problem of object location and recognition by an autonomous mobile ... more In this work, we focus on the problem of object location and recognition by an autonomous mobile robot. In our approach, the robot does not have any prior knowledge about the form and multiplicity of the objects. The robot, however, is equipped with an onboard camera and both objects and robot are capable of exchanging data by using a common low-cost, low-rate wireless technology, namely a TmoteSky mote. The small storage memory of the mote is used to store a simple communication protocol and a description of the physical appearance of the object, encoded by means of a set of Scale Invariant Feature Transform (SIFT) descriptors. The mobile robot queries the surrounding smart objects by sending a broadcast query packet through the wireless interface. The smart objects that receive such a query reply by sending their ID and a selection of the SIFTS that describe their appearance. When a subset of the SIFT descriptors extracted by the current image of the robot's camera matches the SIFT descriptors received from a smart objects, the robot can locate the object in its current view and autonomously navigate towards the object, interacting with it.

Research paper thumbnail of Humanoid soccer robots

Ras, 2009

Humanoid robots are enjoying increasing popularity as a research tool. As step towards the long-t... more Humanoid robots are enjoying increasing popularity as a research tool. As step towards the long-term goal of winning against the FIFA world champion, the RoboCup Federation added in 2002 a league for humanoid robots to its annual soccer competitions. In this paper, the Humanoid League competitions that took place so far are reviewed. The different approaches for the design of robot hardware and the software for perception and behavior control of soccer playing humanoid robots are discussed. The paper concludes with an outlook to the future of the RoboCup Humanoid League.

Research paper thumbnail of A robust and easy to implement method for IMU calibration without external equipments

ABSTRACT Motion sensors as inertial measurement units (IMU) are widely used in robotics, for inst... more ABSTRACT Motion sensors as inertial measurement units (IMU) are widely used in robotics, for instance in the navigation and mapping tasks. Nowadays, many low cost micro electro mechanical systems (MEMS) based IMU are available off the shelf, while smartphones and similar devices are almost always equipped with low-cost embedded IMU sensors. Nevertheless, low cost IMUs are affected by systematic error given by imprecise scaling factors and axes misalignments that decrease accuracy in the position and attitudes estimation. In this paper, we propose a robust and easy to implement method to calibrate an IMU without any external equipment. The procedure is based on a multi-position scheme, providing scale and misalignments factors for both the accelerometers and gyroscopes triads, while estimating the sensor biases. Our method only requires the sensor to be moved by hand and placed in a set of different, static positions (attitudes). We describe a robust and quick calibration protocol that exploits an effective parameterless static filter to reliably detect the static intervals in the sensor measurements, where we assume local stability of the gravity's magnitude and stable temperature. We first calibrate the accelerometers triad taking measurement samples in the static intervals. We then exploit these results to calibrate the gyroscopes, employing a robust numerical integration technique. The performances of the proposed calibration technique has been successfully evaluated via extensive simulations and real experiments with a commercial IMU provided with a calibration certificate as reference data.

Research paper thumbnail of A robust and easy to implement method for IMU calibration without external equipments

ABSTRACT Motion sensors as inertial measurement units (IMU) are widely used in robotics, for inst... more ABSTRACT Motion sensors as inertial measurement units (IMU) are widely used in robotics, for instance in the navigation and mapping tasks. Nowadays, many low cost micro electro mechanical systems (MEMS) based IMU are available off the shelf, while smartphones and similar devices are almost always equipped with low-cost embedded IMU sensors. Nevertheless, low cost IMUs are affected by systematic error given by imprecise scaling factors and axes misalignments that decrease accuracy in the position and attitudes estimation. In this paper, we propose a robust and easy to implement method to calibrate an IMU without any external equipment. The procedure is based on a multi-position scheme, providing scale and misalignments factors for both the accelerometers and gyroscopes triads, while estimating the sensor biases. Our method only requires the sensor to be moved by hand and placed in a set of different, static positions (attitudes). We describe a robust and quick calibration protocol that exploits an effective parameterless static filter to reliably detect the static intervals in the sensor measurements, where we assume local stability of the gravity's magnitude and stable temperature. We first calibrate the accelerometers triad taking measurement samples in the static intervals. We then exploit these results to calibrate the gyroscopes, employing a robust numerical integration technique. The performances of the proposed calibration technique has been successfully evaluated via extensive simulations and real experiments with a commercial IMU provided with a calibration certificate as reference data.

Research paper thumbnail of Combining Audio and Video Surveillance with a Mobile Robot

International Journal of Artificial Intelligence Tools, 2007

This paper presents a Distributed Perception System for application of intelligent surveillance. ... more This paper presents a Distributed Perception System for application of intelligent surveillance. The system prototype presented in this paper is composed of a static acoustic agent and a static vision agent cooperating with a mobile vision agent mounted on a mobile robot. The audio and video sensors distributed in the environment are used as a single sensor to reveal and track the presence of a person in the surveilled environment. The robot extends the capabilities of the system by adding a mobile sensor (in this work an omnidirectional camera). The mobile omnidirectional camera can be used to have a closer look of the scene or to inspect portions of the environment not covered by the fix sensory agents. In this paper, the hardware and the software architecture of the system and of its sensors are presented. Experiments on the integration of the audio localization data and on the video localization data are reported.

Research paper thumbnail of Combining Audio and Video Surveillance with a Mobile Robot

International Journal of Artificial Intelligence Tools, 2007

This paper presents a Distributed Perception System for application of intelligent surveillance. ... more This paper presents a Distributed Perception System for application of intelligent surveillance. The system prototype presented in this paper is composed of a static acoustic agent and a static vision agent cooperating with a mobile vision agent mounted on a mobile robot. The audio and video sensors distributed in the environment are used as a single sensor to reveal and track the presence of a person in the surveilled environment. The robot extends the capabilities of the system by adding a mobile sensor (in this work an omnidirectional camera). The mobile omnidirectional camera can be used to have a closer look of the scene or to inspect portions of the environment not covered by the fix sensory agents. In this paper, the hardware and the software architecture of the system and of its sensors are presented. Experiments on the integration of the audio localization data and on the video localization data are reported.

Research paper thumbnail of Scalable Dense Large-Scale Mapping and Navigation

This paper describes a scalable dense 3D reconstruction and navigation system suitable for real-t... more This paper describes a scalable dense 3D reconstruction and navigation system suitable for real-time operation.

Research paper thumbnail of Scalable Dense Large-Scale Mapping and Navigation

This paper describes a scalable dense 3D reconstruction and navigation system suitable for real-t... more This paper describes a scalable dense 3D reconstruction and navigation system suitable for real-time operation.

Research paper thumbnail of Teaching humanoid robotics by means of human teleoperation through RGB-D sensors

Robotics and Autonomous Systems, 2015

Research paper thumbnail of Why teach robotics using ROS ?

Journal of Automation Mobile Robotics and Intelligent Systems, 2014

This paper focuses on the key role played by the adop on of a framework in teaching robo cs with ... more This paper focuses on the key role played by the adop on of a framework in teaching robo cs with a computer science approach in the master in Computer Engineering. The framework adopted is the Robot Opera ng System (ROS), which is becoming a standard de facto inside the robo cs community. The educa onal ac vi es proposed in this paper are based on a construc onist approach. The Mindstorms NXT robot kit is adopted to trigger the learning challenge. The ROS framework is exploited to drive the students programming methodology during the laboratory ac vi es and to allow students to exercise with the major computer programming paradigms and the best programming prac ces. The major robo cs topics students are involved with are: acquiring data from sensors, connec ng sensors to the robot, and navigate the robot to reach the final goal. The posi ve effects given by this approach are highlighted in this paper by comparing the work recently produced by students with the work produced in the previous years in which ROS was not yet adopted and many different so ware tools and languages were used. The results of a ques onnaire are reported showing that we achieved the didac cal objecves we expected as instructors.

Research paper thumbnail of How a coopeartive behaviour can emerge from a robot team

Research paper thumbnail of Smart Check 3D: An Industrial Inspection System Combining 3D Vision with Automatic Planning of Inspection Viewpoints

Advances in Computer Vision and Pattern Recognition, 2015

Research paper thumbnail of Efficient Completeness Inspection Using Real-Time 3D Color Reconstruction with a Dual-Laser Triangulation System

Advances in Computer Vision and Pattern Recognition, 2015

Research paper thumbnail of Hierarchical Image-based Localisation for Mobile Robots with Monte-Carlo Localisation

This paper extends our previous works on image-based localisation for mobile robot. The image-bas... more This paper extends our previous works on image-based localisation for mobile robot. The image-based localisation consists in matching the current view experienced by the robot with the reference views stored in the visual memory of the robot. The original idea was to use the Fourier components as signatures for the omnidirectional images acquired by the robot. The extensions proposed in this paper are: the possibility to have a localisation with different accuracy while the robot navigates (called hierarchical localisation) and the introduction of a Monte-Carlo localisation technique to increase the robustness of the system in environments where the image-based localisation can be mislead. Experiments demonstrated the feasibility of the hierarchical localisation and the robustness of the implementation of our Monte-Carlo localisation.

Research paper thumbnail of Hierarchical Image-based Localisation for Mobile Robots with Monte-Carlo Localisation

This paper extends our previous works on image-based localisation for mobile robot. The image-bas... more This paper extends our previous works on image-based localisation for mobile robot. The image-based localisation consists in matching the current view experienced by the robot with the reference views stored in the visual memory of the robot. The original idea was to use the Fourier components as signatures for the omnidirectional images acquired by the robot. The extensions proposed in this paper are: the possibility to have a localisation with different accuracy while the robot navigates (called hierarchical localisation) and the introduction of a Monte-Carlo localisation technique to increase the robustness of the system in environments where the image-based localisation can be mislead. Experiments demonstrated the feasibility of the hierarchical localisation and the robustness of the implementation of our Monte-Carlo localisation.