A Purely Model-Based Approach to Object Pose and Size Estimation With Electric Sense
| Autor: | Frédéric Boyer, Vincent Lebastard, Stéphane Bazeille |
|---|---|
| Přispěvatelé: | Institut de Recherche en Informatique Mathématiques Automatique Signal (IRIMAS), Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA)), Robotique Et Vivant (ReV), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT) |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science Heuristic Computation object location 02 engineering and technology Ellipsoid Displacement (vector) [SPI.AUTO]Engineering Sciences [physics]/Automatic Computer Science Applications size estimation Set (abstract data type) 020901 industrial engineering & automation Control and Systems Engineering Position (vector) Electric field Trajectory Electrical and Electronic Engineering Algorithm Electric sense |
| Zdroj: | IEEE Transactions on Robotics IEEE Transactions on Robotics, IEEE, 2020, pp.1-8. ⟨10.1109/TRO.2020.3000285⟩ |
| ISSN: | 1941-0468 1552-3098 2374-958X |
| Popis: | In the 50s, biologists discovered that some electric fish is capable of discriminating the pose as well as the electric and geometric properties of surrounding objects by navigating and measuring the distortions of a self-generated electric field. In this article, we address the challenging issue of ellipsoidal objects pose and size estimation for underwater robots equipped with artificial electric sense. Unlike current methods, the approach can estimate both the position and size in parallel with a single straight trajectory. Neither multipolarization nor reactive self-alignment control are necessary to locate the object. The approach is a purely model-based heuristic that selects the best ellipsoid parameters among a set of potential candidates. It is based on a set of four electric measurements recorded at several positions along the robot trajectory along which the displacement is measured. The efficiency of the method is assessed over numerous experiments with different objects, several positions, and orientations, and two different kinds of water (fresh and salt water). Despite some model simplifications and experimental errors, location and size estimation errors are on average below $\text{1}\,$ cm and $\text{15}\%$ , respectively, while offering promising perspectives for real-time computation. |
| Databáze: | OpenAIRE |
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