aass, Örebro university - centre for applied autonomous...

Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 1

Prof. Dr. Achim Lilienthal contact: www.aass.oru.se/~lilien [email protected]

# 3 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)

Örebro


Profile + Applications

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General Focus ... o perception systems for mobile robots

(fundamentals for autonomous and safe operation)

Objective ... o advance theoretical and practical foundations that allow mobile

robots to operate in an unconstrained, dynamic environment

Approaches are Characterized by ... o fusion of different sensor modalities o timely integration into industrial demonstrators

MR&O Lab Profile


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D1 – Mobile Robotics o for autonomous and safe long-term operation in the real world o technology transfer through collaborative projects with industrial

partners in the area of logistics robots o examples: autonomous forklifts and autonomous wheel loaders

MR&O Lab Profile – Two Major Research Directions


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Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)


speed x 2


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Professional Service Robots for Transport Applications

speed x 1


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Wheel Loaders (VolvoCE, VolvoTech, NCC)



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Mining Vehicles (Atlas Copco, Fotonic)


picture from the actual mine!


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Hospital Transport Vehicles (RobCab)



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Garbage Bin Collection and Cleaning (RoboTech)



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D2 – Artificial and Mobile Robot Olfaction o Artificial Olfaction = gas sensing with artificial sensor systems o we study particularly open sampling systems def o develop "electronic nose" towards a "mobile nose" o examples: gas sensor networks (air pollution monitoring),

inspection robots (landfill site surveillance, gas leak localization)



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Garbage Bin Collection and Cleaning (RoboTech) o ... and pollution monitoring



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Landfill Site Inspection (Atleverket)

Mobile Work Machines


Major Research Areas

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Major Research Areas we are internationally recognized for work in ... o rich 3D perception o robot vision o mobile robot olfaction

MR&O Lab – Research Areas


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Major Research Areas we are internationally recognized for work in ... o rich 3D perception o robot vision o mobile robot olfaction



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Rich 3D Perception o rich 3D = spatial data augmented with additional information

» additional dimensions: e.g. colour

What is Rich 3D?

coloured point cloud (example of rich 3D data) [Andreasson, 2007]


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» additional dimensions: e.g. colour, …


coloured point cloud (an example of rich 3D data) [Andreasson, 2007]


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» additional dimensions: e.g. colour, temperature, …

What is Rich 3D?

"thermal" point cloud (example of rich 3D data) [Andreasson, 2007]


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» additional dimensions: e.g. colour, temperature, remission, semantic label, confidence estimate, …

What is Rich 3D?

xi = (xi, yi, zi, r(1)i, ..., r(n)

i)


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Unloading Containers (Vollers, Qubica)

Rich 3D Perception Projects


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Landfill Site Inspection




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Rich 3D Perception o research question

» how can we create a consistent, useful world model from rich 3D data?



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» how can we create a consistent, useful world model from rich 3D data? o key contributions

» how to create compact, consistent world models from rich 3D data?



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» how to create compact, consistent world models from 3D data? • 3D-NDT (Normal Distribution Transform) [Magnusson et al., JFR 2007]



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» how to create compact, consistent world models from rich 3D data? » scan registration def



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• Iterative 3D-NDT Scan Registration [Magnusson et al., JFR 2007 / Magnusson et al., ICRA 2009]


3D-ICP

3D-NDT

point-to-NDT


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[Magnusson et al., JFR 2007] [Magnusson et al., ICRA 2009]





Selected Research Results

point-to-NDT (P2D)


point-to-NDT (P2D)


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• NDT-2-NDT Registration [Stoyanov et al., ICRA 2012 / IJRR 2012?]

Selected Research Results

point-to-NDT (P2D)


point-to-NDT (P2D)

[Stoyanov et al., IJRR 2012?] [Stoyanov et al., ICRA 2012]

NDT-to-NDT (D2D)


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Scan Registration o NDT-2-NDT [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]

» results

NDT-to-NDT (D2D)

ICP

343 registrations


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» results

NDT-to-NDT (D2D)

ICP NDT-P2D

343 registrations


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» results

NDT-to-NDT (D2D)

ICP NDT-P2D NDT-D2D (L2)

343 registrations


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» results

NDT-to-NDT (D2D)


343 registrations


2.


» results

NDT-to-NDT (D2D)


343 registrations

good convergence, accurate and consistent,

slow

very good convergence, very accurate and

consistent, very fast

varying convergence, consistent but least

accurate, slow


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• NDT-2-NDT Registration [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]

• Registration using Depth-Interpolated Local Image Features [Andreasson/Lilienthal, RAS 2010]



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» how to detect changes in rich 3D data? ("Find the Difference") • Difference Detection for Security Patrol Robots [Andreasson et al., IROS 2007]



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» detecting re-visited places with a low-dimensional representation? • 3D-NDT Signatures for Loop Closing [Magnusson et al., JFR 2009 / ICRA 2009]



Summary

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The AASS Mobile Robotics & Olfaction Lab in 2012 o 19 PhD students, 14 senior researchers o 9 ongoing projects, ext. funding > 10MSEK/y

Research Area 1: Mobile Transport Robots for Industrial Applications o 3D perception and robot vision o autonomous and safe long-term operation in the real world o extensive technology transfer through collaborative

projects with industrial partners o autonomous forklifts, wheel loaders, mining vehicles,

hospital robots, and cleaning robots

o leader in Europe, key player world-wide

Prof. Achim Lilienthal contact: www.aass.oru.se/~lilien [email protected]

Research Area 2: Mobile Robot Olfaction o gas sensing with artificial sensor systems in

open sampling configuration (from "electronic nose" to "mobile nose")

o gas sensor networks for air pollution monitoring, mobile robots for surveillance of landfill sites, gas leak localization, gas-sensitive flying robots

o world-leading in mobile robot olfaction

http://www.aass.oru.se/Research/mro�



http://www.aass.oru.se/~lilien�

mailto:[email protected]�

Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 117

Prof. Dr. Achim Lilienthal contact: www.aass.oru.se/~lilien [email protected]

aass, Örebro university - centre for applied autonomous...

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