Search results for "Collision Detection"
showing 10 items of 20 documents
3D Sensor-Based Obstacle Detection Comparing Octrees and Point clouds Using CUDA
2012
This paper presents adaptable methods for achieving fast collision detection using the GPU and Nvidia CUDA together with Octrees. Earlier related work have focused on serial methods, while this paper presents a parallel solution which shows that there is a great increase in time if the number of operations is large. Two different models of the environment and the industrial robot are presented, the first is Octrees at different resolutions, the second is a point cloud representation. The relative merits of the two different world model representations are shown. In particular, the experimental results show the potential of adapting the resolution of the robot and environment models to the t…
A Full-Scale Agent-Based Model to Hypothetically Explore the Impact of Lockdown, Social Distancing, and Vaccination During the COVID-19 Pandemic in L…
2021
Background The COVID-19 outbreak, an event of global concern, has provided scientists the opportunity to use mathematical modeling to run simulations and test theories about the pandemic. Objective The aim of this study was to propose a full-scale individual-based model of the COVID-19 outbreak in Lombardy, Italy, to test various scenarios pertaining to the pandemic and achieve novel performance metrics. Methods The model was designed to simulate all 10 million inhabitants of Lombardy person by person via a simple agent-based approach using a commercial computer. In order to obtain performance data, a collision detection model was developed to enable cluster nodes in small cells that can b…
Contact Estimation in Robot Interaction
2014
In the paper, safety issues are examined in a scenario in which a robot manipulator and a human perform the same task in the same workspace. During the task execution, the human should be able to physically interact with the robot, and in this case an estimation algorithm for both interaction forces and a contact point is proposed in order to guarantee safety conditions. The method, starting from residual joint torque estimation, allows both direct and adaptive computation of the contact point and force, based on a principle of equivalence of the contact forces. At the same time, all the unintended contacts must be avoided, and a suitable post-collision strategy is considered to move the r…
Scalability of GPU-Processed 3D Distance Maps for Industrial Environments
2018
This paper contains a benchmark analysis of the open source library GPU-Voxels together with the Robot Operating System (ROS) in large-scale industrial robotics environment. Six sensor nodes with embedded computing generate real-time point cloud data as ROS topics. The overall data from all sensor nodes is processed by a combination of CPU and GPU on a central ROS node. Experimental results demonstrate that the system is able to handle frame rates of 10 and 20 Hz with voxel sizes of 4, 6, 8 and 12 cm without saturation of the CPU or the GPU used by the GPU-Voxels library. The results in this paper show that ROS, in combination with GPU-Voxels, can be used as a viable solution for real-time …
Visual and acoustic techniques for motorcycle collision warning system with EEG validation
2018
In many countries, motorcyclist fatality rate is much higher than that of other vehicle drivers. Among many other factors, motorcycle rear-end collisions are also contributing to these biker fatalities. Collision detection systems can be used to minimize these fatalities. However, most of the existing collision detection systems do not identify the type of potential hazard faced by motorcyclists. Every collision warning system used a distinctive collision detection technique, which limits its performance and makes it imperative to study its effectiveness. Unfortunately, no such work has been reported in that particular domain for motorcyclists. Therefore, it is important to study the physio…
Local path planning in a complex environment for self-driving car
2014
This paper introduces an local path planning algorithm for the self-driving car in a complex environment. The proposed algorithm is composed of three parts: the novel path representation, the collision detection and the path modification using a voronoi cell. The novel path representation provides convenience for checking the collision and modifying the path and continuous control input for steering wheel rather than way point navigation. The proposed algorithm were applied to the self-driving car, EureCar(KAIST) and its applicability and feasibility of real time use were validated.
Gradient-based time to contact on paracatadioptric camera
2013
International audience; The problem of time to contact or time to collision (TTC) estimation is largely discussed in perspective images. However, a few works have dealt with images of catadioptric sensors despite of their utility in robotics applications. The objective of this paper is to develop a novel model for estimating TTC with catadioptric images relative to a planar surface, and to demonstrate that TTC can be estimated only with derivative brightness and image coordinates. This model, called "gradient based time to contact", does not need high processing such as explicit estimation of optical flow and feature detection/or tracking. The proposed method allows to estimate TTC and give…
Scale invariant line matching on the sphere
2013
International audience; This paper proposes a novel approach of line matching across images captured by different types of cameras, from perspective to omnidirectional ones. Based on the spherical mapping, this method utilizes spherical SIFT point features to boost line matching and searches line correspondences using an affine invariant measure of similarity. It permits to unify the commonest cameras and to process heterogeneous images with the least distortion of visual information.
An Easy-to-Use AR Authoring Tool for Industrial Applications
2013
Augmented Reality (AR) applications have been emerged last years as a valuable tool for saving significant costs in maintenance and process control tasks in industry. This trend has been stimulated by the appearance of authoring tools that allow the fast and easy development of AR applications. However, most of current AR authoring tools are actually programming interfaces that are exclusively suitable for programmers, and they do not provide advanced visual effects such as occlusion or object collision detection.
Motorcyclists Safety System to avoid Rear End Collisions based on Acoustic Signatures
2017
International audience; In many Asian countries, motorcyclists have a higher fatality rate as compared to other vehicles. Among many other factors, rear end collisions are also contributing for these fatalities. Collision detection systems can be useful to minimize these accidents. However, the designing of efficient and cost effective collision detection system for motorcyclist is still a major challenge. In this paper, an acoustic information based, cost effective and efficient collision detection system is proposed for motorcycle applications. The proposed technique uses the Short time Fourier Transform (STFT) to extract the features from the audio signal and Principal component analysis…