Post on 30-Jun-2020
Mobile Robotics and Olfaction Lab, AASS, Örebro University
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Prof. Dr. Achim Lilienthal contact: www.aass.oru.se/~lilien achim.lilienthal@oru.se
# 3 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
Örebro
# 8 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
Profile + Applications
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# 9 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
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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
# 10 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
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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
# 11 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
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Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)
MR&O Lab Profile – Two Major Research Directions
speed x 2
# 14 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
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Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)
Professional Service Robots for Transport Applications
speed x 1
# 18 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
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Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)
Wheel Loaders (VolvoCE, VolvoTech, NCC)
MR&O Lab Profile – Two Major Research Directions
# 19 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
1.
Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)
Wheel Loaders (VolvoCE, VolvoTech, NCC)
Mining Vehicles (Atlas Copco, Fotonic)
MR&O Lab Profile – Two Major Research Directions
picture from the actual mine!
# 20 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
1.
Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)
Wheel Loaders (VolvoCE, VolvoTech, NCC)
Mining Vehicles (Atlas Copco, Fotonic)
Hospital Transport Vehicles (RobCab)
MR&O Lab Profile – Two Major Research Directions
# 21 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
1.
Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)
Wheel Loaders (VolvoCE, VolvoTech, NCC)
Mining Vehicles (Atlas Copco, Fotonic)
Hospital Transport Vehicles (RobCab)
Garbage Bin Collection and Cleaning (RoboTech)
MR&O Lab Profile – Two Major Research Directions
# 25 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
1.
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)
MR&O Lab Profile – Two Major Research Directions
# 27 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
1.
Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)
Wheel Loaders (VolvoCE, VolvoTech, NCC)
Mining Vehicles (Atlas Copco, Fotonic)
Hospital Transport Vehicles (RobCab)
Garbage Bin Collection and Cleaning (RoboTech)
MR&O Lab Profile – Two Major Research Directions
# 28 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
1.
Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)
Wheel Loaders (VolvoCE, VolvoTech, NCC)
Mining Vehicles (Atlas Copco, Fotonic)
Hospital Transport Vehicles (RobCab)
Garbage Bin Collection and Cleaning (RoboTech) o ... and pollution monitoring
MR&O Lab Profile – Two Major Research Directions
# 29 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
1.
Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)
Wheel Loaders (VolvoCE, VolvoTech, NCC)
Mining Vehicles (Atlas Copco, Fotonic)
Hospital Transport Vehicles (RobCab)
Garbage Bin Collection and Cleaning (RoboTech)
Landfill Site Inspection (Atleverket)
Mobile Work Machines
# 35 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
Major Research Areas
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# 36 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
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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
# 38 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
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
# 39 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
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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]
# 40 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
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Rich 3D Perception o rich 3D = spatial data augmented with additional information
» additional dimensions: e.g. colour, …
MR&O Lab – Research Areas
coloured point cloud (an example of rich 3D data) [Andreasson, 2007]
# 41 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Rich 3D Perception o rich 3D = spatial data augmented with additional information
» additional dimensions: e.g. colour, temperature, …
What is Rich 3D?
"thermal" point cloud (example of rich 3D data) [Andreasson, 2007]
# 42 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Rich 3D Perception o rich 3D = spatial data augmented with additional information
» 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)
# 51 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)
Wheel Loaders (VolvoCE, VolvoTech, NCC)
Mining Vehicles (Atlas Copco, Fotonic)
Hospital Transport Vehicles (RobCab)
Garbage Bin Collection and Cleaning (RoboTech)
Landfill Site Inspection (Atleverket)
Unloading Containers (Vollers, Qubica)
Rich 3D Perception Projects
# 52 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)
Wheel Loaders (VolvoCE, VolvoTech, NCC)
Mining Vehicles (Atlas Copco, Fotonic)
Hospital Transport Vehicles (RobCab)
Garbage Bin Collection and Cleaning (RoboTech)
Landfill Site Inspection
Unloading Containers (Vollers, Qubica)
Rich 3D Perception Projects
# 53 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)
Wheel Loaders (VolvoCE, VolvoTech, NCC)
Mining Vehicles (Atlas Copco, Fotonic)
Hospital Transport Vehicles (RobCab)
Garbage Bin Collection and Cleaning (RoboTech)
Landfill Site Inspection (Atleverket)
Unloading Containers (Vollers, Qubica)
Rich 3D Perception Projects
# 54 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)
Wheel Loaders (VolvoCE, VolvoTech, NCC)
Mining Vehicles (Atlas Copco, Fotonic)
Hospital Transport Vehicles (RobCab)
Garbage Bin Collection and Cleaning (RoboTech)
Landfill Site Inspection (Atleverket)
Unloading Containers (Vollers, Qubica)
Rich 3D Perception Projects
# 55 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)
Wheel Loaders (VolvoCE, VolvoTech, NCC)
Mining Vehicles (Atlas Copco, Fotonic)
Hospital Transport Vehicles (RobCab)
Garbage Bin Collection and Cleaning (RoboTech)
Landfill Site Inspection (Atleverket)
Unloading Containers (Vollers, Qubica)
Rich 3D Perception Projects
# 56 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)
Wheel Loaders (VolvoCE, VolvoTech, NCC)
Mining Vehicles (Atlas Copco, Fotonic)
Hospital Transport Vehicles (RobCab)
Garbage Bin Collection and Cleaning (RoboTech)
Landfill Site Inspection (Atleverket)
Unloading Containers (Vollers, Qubica)
Rich 3D Perception Projects
# 57 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Rich 3D Perception o research question
» how can we create a consistent, useful world model from rich 3D data?
MR&O Lab – Research Areas
# 59 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Rich 3D Perception o research question
» 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?
MR&O Lab – Research Areas
# 61 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Rich 3D Perception o research question
» how can we create a consistent, useful world model from rich 3D data? o key contributions
» how to create compact, consistent world models from 3D data? • 3D-NDT (Normal Distribution Transform) [Magnusson et al., JFR 2007]
MR&O Lab – Research Areas
# 62 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Rich 3D Perception o research question
» 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? » scan registration def
MR&O Lab – Research Areas
# 63 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Rich 3D Perception o research question
» 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? » scan registration def
• Iterative 3D-NDT Scan Registration [Magnusson et al., JFR 2007 / Magnusson et al., ICRA 2009]
MR&O Lab – Research Areas
3D-ICP
3D-NDT
point-to-NDT
# 66 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
[Magnusson et al., JFR 2007] [Magnusson et al., ICRA 2009]
Rich 3D Perception o research question
» 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? » scan registration def
• Iterative 3D-NDT Scan Registration [Magnusson et al., JFR 2007 / Magnusson et al., ICRA 2009]
Selected Research Results
point-to-NDT (P2D)
[Magnusson et al., JFR 2007] [Magnusson et al., ICRA 2009]
point-to-NDT (P2D)
# 67 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
[Magnusson et al., JFR 2007] [Magnusson et al., ICRA 2009]
Rich 3D Perception o research question
» 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? » scan registration def
• Iterative 3D-NDT Scan Registration [Magnusson et al., JFR 2007 / Magnusson et al., ICRA 2009]
• NDT-2-NDT Registration [Stoyanov et al., ICRA 2012 / IJRR 2012?]
Selected Research Results
point-to-NDT (P2D)
[Magnusson et al., JFR 2007] [Magnusson et al., ICRA 2009]
point-to-NDT (P2D)
[Stoyanov et al., IJRR 2012?] [Stoyanov et al., ICRA 2012]
NDT-to-NDT (D2D)
# 72 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Scan Registration o NDT-2-NDT [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]
» results
NDT-to-NDT (D2D)
ICP
343 registrations
# 73 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Scan Registration o NDT-2-NDT [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]
» results
NDT-to-NDT (D2D)
ICP NDT-P2D
343 registrations
# 74 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Scan Registration o NDT-2-NDT [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]
» results
NDT-to-NDT (D2D)
ICP NDT-P2D NDT-D2D (L2)
343 registrations
# 75 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Scan Registration o NDT-2-NDT [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]
» results
NDT-to-NDT (D2D)
ICP NDT-P2D NDT-D2D (L2)
343 registrations
# 76 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Scan Registration o NDT-2-NDT [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]
» results
NDT-to-NDT (D2D)
ICP NDT-P2D NDT-D2D (L2)
343 registrations
good convergence, accurate and consistent,
slow
very good convergence, very accurate and
consistent, very fast
varying convergence, consistent but least
accurate, slow
# 79 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Rich 3D Perception o research question
» 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? » scan registration def
• Iterative 3D-NDT Scan Registration [Magnusson et al., JFR 2007 / Magnusson et al., ICRA 2009]
• 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]
MR&O Lab – Research Areas
# 80 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Rich 3D Perception o research question
» how can we create a consistent, useful world model from rich 3D data? o key contributions
» how to detect changes in rich 3D data? ("Find the Difference") • Difference Detection for Security Patrol Robots [Andreasson et al., IROS 2007]
MR&O Lab – Research Areas
# 81 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
2.
Rich 3D Perception o research question
» how can we create a consistent, useful world model from rich 3D data? o key contributions
» detecting re-visited places with a low-dimensional representation? • 3D-NDT Signatures for Loop Closing [Magnusson et al., JFR 2009 / ICRA 2009]
MR&O Lab – Research Areas
# 115 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
Summary
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# 116 © A. J. Lilienthal (IPA, Stuttgart, Mar 9, 2012)
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 achim.lilienthal@oru.se
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
Mobile Robotics and Olfaction Lab, AASS, Örebro University
# 117
Prof. Dr. Achim Lilienthal contact: www.aass.oru.se/~lilien achim.lilienthal@oru.se