Wearable Ego-Motion Tracking for Blind Navigation in Indoor Environments

2015 ◽  
Vol 12 (4) ◽  
pp. 1181-1190 ◽  
Author(s):  
Hongsheng He ◽  
Yan Li ◽  
Yong Guan ◽  
Jindong Tan
Keyword(s):  
Motion Tracking ◽  
Indoor Environments ◽  
Blind Navigation

scholarly journals Multi-sensor three-dimensional Monte Carlo localization for long-term aerial robot navigation

2017 ◽  
Vol 14 (5) ◽  
pp. 172988141773275 ◽  
Author(s):  
Francisco J Perez-Grau ◽  
Fernando Caballero ◽  
Antidio Viguria ◽  
Anibal Ollero
Keyword(s):  
Monte Carlo ◽  
Motion Tracking ◽  
Robot Navigation ◽  
Tracking System ◽  
Three Dimensional ◽  
Measurement Unit ◽  
Indoor Environments ◽  
Localization Algorithm ◽  
Monte Carlo Localization ◽  
Motion Tracking System

This article presents an enhanced version of the Monte Carlo localization algorithm, commonly used for robot navigation in indoor environments, which is suitable for aerial robots moving in a three-dimentional environment and makes use of a combination of measurements from an Red,Green,Blue-Depth (RGB-D) sensor, distances to several radio-tags placed in the environment, and an inertial measurement unit. The approach is demonstrated with an unmanned aerial vehicle flying for 10 min indoors and validated with a very precise motion tracking system. The approach has been implemented using the robot operating system framework and works smoothly on a regular i7 computer, leaving plenty of computational capacity for other navigation tasks such as motion planning or control.

scholarly journals Smartphone-based localization for blind navigation in building-scale indoor environments

2019 ◽  
Vol 57 ◽  
pp. 14-32 ◽  
Author(s):  
Masayuki Murata ◽  
Dragan Ahmetovic ◽  
Daisuke Sato ◽  
Hironobu Takagi ◽  
Kris M. Kitani ◽  
...  
Keyword(s):  
Indoor Environments ◽  
Blind Navigation

scholarly journals Inertial-Robotic Motion Tracking in End-Effector-Based Rehabilitation Robots

2020 ◽  
Vol 7 ◽  
Author(s):  
Arne Passon ◽  
Thomas Schauer ◽  
Thomas Seel
Keyword(s):  
Real Time ◽  
Motion Tracking ◽  
Inertial Sensor ◽  
Ground Truth ◽  
Rehabilitation Robotics ◽  
Measurement Information ◽  
Indoor Environments ◽  
Upper Arm ◽  
End Effector ◽  
Upper Limb Rehabilitation

End-effector-based robotic systems provide easy-to-set-up motion support in rehabilitation of stroke and spinal-cord-injured patients. However, measurement information is obtained only about the motion of the limb segments to which the systems are attached and not about the adjacent limb segments. We demonstrate in one particular experimental setup that this limitation can be overcome by augmenting an end-effector-based robot with a wearable inertial sensor. Most existing inertial motion tracking approaches rely on a homogeneous magnetic field and thus fail in indoor environments and near ferromagnetic materials and electronic devices. In contrast, we propose a magnetometer-free sensor fusion method. It uses a quaternion-based algorithm to track the heading of a limb segment in real time by combining the gyroscope and accelerometer readings with position measurements of one point along that segment. We apply this method to an upper-limb rehabilitation robotics use case in which the orientation and position of the forearm and elbow are known, and the orientation and position of the upper arm and shoulder are estimated by the proposed method using an inertial sensor worn on the upper arm. Experimental data from five healthy subjects who performed 282 proper executions of a typical rehabilitation motion and 163 executions with compensation motion are evaluated. Using a camera-based system as a ground truth, we demonstrate that the shoulder position and the elbow angle are tracked with median errors around 4 cm and 4°, respectively; and that undesirable compensatory shoulder movements, which were defined as shoulder displacements greater ±10 cm for more than 20% of a motion cycle, are detected and classified 100% correctly across all 445 performed motions. The results indicate that wearable inertial sensors and end-effector-based robots can be combined to provide means for effective rehabilitation therapy with likewise detailed and accurate motion tracking for performance assessment, real-time biofeedback and feedback control of robotic and neuroprosthetic motion support.

Guided Text Spotting for Assistive Blind Navigation in Unfamiliar Indoor Environments

2016 ◽  
pp. 11-22
Author(s):  
Xuejian Rong ◽  
Bing Li ◽  
J. Pablo Muñoz ◽  
Jizhong Xiao ◽  
Aries Arditi ◽  
...  
Keyword(s):  
Indoor Environments ◽  
Blind Navigation ◽  
Text Spotting

Blind navigation aid system with Kinect sensor in complex indoor environments

2015 ◽  
Vol 23 (8) ◽  
pp. 2419-2427
Author(s):  
张克华 ZHANG Ke-hua ◽  
王书平 WANG Shu-ping ◽  
尹晓红 YIN Xiao-hong ◽  
程光明 CHENG Guang-ming
Keyword(s):  
Indoor Environments ◽  
Kinect Sensor ◽  
Blind Navigation

Admittance Based Force Control for Collaborative Transportation of a Common Payload Using Two UAVs

2017 ◽  
Author(s):  
Shraddha Barawkar ◽  
Mohammadreza Radmanesh ◽  
Manish Kumar ◽  
Kelly Cohen
Keyword(s):  
Pid Controller ◽  
Motion Tracking ◽  
Force Feedback ◽  
Positional Information ◽  
Feedback Controller ◽  
Contact Forces ◽  
Indoor Environments ◽  
Control Approach ◽  
Control Scheme ◽  
Order Of Magnitude

This paper presents a novel control approach to perform collaborative transportation by using multiple quadcopter Unmanned Aerial Vehicles (UAVs). In this paper, a leader-follower approach is implemented. The leader UAV uses a Proportional, Integral and Derivative (PID) controller to reach the desired goal point or follow a predefined trajectory. Traditionally, a Position Feedback Controller (PFC) has been used in literature to control the follower UAV. PFC takes the feedback of leader UAVs position to control the follower UAV. Such control schemes work effectively in indoor environments using accurate motion tracking cameras. However, the paper focuses on outdoor applications that requires usage of Global Positioning System (GPS) to receive the positional information of the leader UAV. GPS has inherent errors of order of magnitude that can destabilize the system. The control scheme proposed in this research addresses this major limitation. In this paper, a Force Feedback Controller (FFC) is used to control the follower UAV. An admittance controller is employed to implement this FFC. This controller simulates a virtual spring mass damper system, to generate a desired trajectory for the follower UAV, which complies with the contact forces acting on it. This desired trajectory is then tracked by a traditional PID controller. With the proposed control scheme, the follower UAV can be controlled without using leaders positional feedback and the system can be implemented for real-world applications. The paper presents results of numerical simulations showing the effectiveness of the proposed controller for way-point navigation and complex trajectory tracking.

Physiologic Studies Provide New Perspectives on Early Speech Development

2010 ◽  
Vol 20 (2) ◽  
pp. 29-36
Author(s):  
Erin M. Wilson ◽  
Ignatius S. B. Nip
Keyword(s):  
Motor Control ◽  
Motor Development ◽  
Motion Tracking ◽  
Speech Development ◽  
Speech Motor Control ◽  
Therapeutic Approaches ◽  
Facial Motion ◽  
Disordered Speech ◽  
Speech Motor ◽  
Physiologic Data

Abstract Although certain speech development milestones are readily observable, the developmental course of speech motor control is largely unknown. However, recent advances in facial motion tracking systems have been used to investigate articulator movements in children and the findings from these studies are being used to further our understanding of the physiologic basis of typical and disordered speech development. Physiologic work has revealed that the emergence of speech is highly dependent on the lack of flexibility in the early oromotor system. It also has been determined that the progression of speech motor development is non-linear, a finding that has motivated researchers to investigate how variables such as oromotor control, cognition, and linguistic factors affect speech development in the form of catalysts and constraints. Physiologic data are also being used to determine if non-speech oromotor behaviors play a role in the development of speech. This improved understanding of the physiology underlying speech, as well as the factors influencing its progression, helps inform our understanding of speech motor control in children with disordered speech and provide a framework for theory-driven therapeutic approaches to treatment.

Einfluss der Bildrate auf die Strainanalyse bei zweidimensionalem Wall Motion Tracking in der fetalen Echokardiografie

2017 ◽  
Author(s):  
C Enzensberger ◽  
L Rostock ◽  
M Götte ◽  
A Wolter ◽  
J Herrmann ◽  
...  
Keyword(s):  
Motion Tracking ◽  
Wall Motion
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