Abstract
This paper presents a robotic system that exploits Wireless Sensor Network (WSN) technologies for implementing an ambient intelligence scenario. We address the problems of robot object discovery, localization, and recognition in a fully distributed way. We propose to embed some memory, some computational power, and some communication capability in the objects, by attaching a WSN mote to each object. We called the union of an object and of a mote, a smart object. The robot does not have any information on the number nor on the kind of objects in the environment. The robot discovers the objects through the radio frequency communication provided by the WSN motes. The robot roughly locates the motes by performing a range-only SLAM algorithm based on the RSSI-range measurements. A more precise localization and recognition step is performed by processing images acquired by the camera installed on the robot and matching the descriptors extracted from these images with those transmitted by the motes. Experiments with eight smart objects in a cluttered office environment with many dummy objects are reported. The robot was able to correctly locate the motes, to navigate toward them and to correctly recognize the smart objects.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Network robot forum, http://www.scat.or.jp/nrf/English/
Asfour, T., Azad, P., Vahrenkamp, N., Regenstein, K., Bierbaum, A., Welke, K., Schröder, J., Dillmann, R.: Toward humanoid manipulation in human-centred environments. Robot. Auton. Syst. 56(1), 54–65 (2008)
Azad, P., Asfour, T., Dillmann, R.: Combining apperance-based and model-based methods for real-time object recognition and 6d localization. In: International Conference on Intelligent Robots and Systems (IROS), Beijing, China. IEEE Institute of Electrical and Electronics Engineers (2006)
Besl, P.J., McKay, N.D.: A method for registration of 3-d shapes. IEEE Trans. Pattern Anal. Mach. Intell. 14(2), 239–256 (1992)
Chella, A., Pagello, E., Menegatti, E., Sorbello, R., Anzalone, S., Cinquegrani, F., Tonin, L., Piccione, F., Prifitis, K., Blanda, C., Buttita, E., Tranchina, E.: A bci teleoperated museum robotic guide. In: International Conference on Complex, Intelligent and Software Intensive Systems, CISIS 2009, pp. 783–788 (March 2009)
Dressler, F.: Self-organization in autonomous sensor and actuator networks (2006)
Goldsmith, A.: Wireless Communications. Cambridge University Press, Cambridge (2005)
Kim, J., Kim, Y., Lee, K.: The third generation of robotics: Ubiquitous robot. Palmerston North, New Zealand (2004)
Lee, J., Hashimoto, H.: Intelligent space - concept and contents. Advanced Robotics 16(3), 265–280 (2002)
Lowe, D.: Object recognition from local scale-invariant features. In: Proceedings of International Conference on Computer Vision, pp. 1150–1157 (1999)
Lowe, D.G.: Distinctive image features from scale-invariant keypoints. International Journal of Computer Vision 60, 91–110 (2004)
Menegatti, E., Zanella, A., Zilli, S., Zorzi, F., Pagello, E.: Range-only SLAM with a mobile robot and a wireless sensor networks. In: IEEE International Conference on Robotics and Automation, ICRA 2009, pp. 8–14 (May 2009)
Pretto, A., Menegatti, E., Bennewitz, M., Burgard, W., Pagello, E.: A visual odometry framework robust to motion blur. In: IEEE International Conference on Robotics and Automation, ICRA 2009, pp. 2250–2257 (May 2009)
Pretto, A., Menegatti, E., Pagello, E.: Reliable features matching for humanoid robots. In: 7th IEEE-RAS International Conference on Humanoid Robots, pp. 532–538 (January 2007)
Saffiotti, A., Broxvall, M., Gritti, M., LeBlanc, K., Lundh, R., Rashid, J., Seo, B., Cho, Y.: The PEIS-ecology project: Vision and results. In: IROS 2008: Intelligent Robots and Systems, pp. 2329–2335. North-Holland Publishing Co., Amsterdam (2008)
Sanfeliu, A., Hagita, N., Saffiotti, A.: Network robot systems. Robot. Auton. Syst. 56(10), 793–797 (2008)
Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics (Intelligent Robotics and Autonomous Agents). The MIT Press, Cambridge (2005)
Vincze, M., Schlemmer, M., Gemeiner, P., Ayromlou, M.: Vision for robotics: a tool for model-based object tracking. IEEE Robotics and Automation Magazine 12(4), 53–64 (2005)
Zanca, G., Zorzi, F., Zanella, A., Zorzi, M.: Experimental comparison of RSSi-based localization algorithms for indoor wireless sensor networks. In: REALWSN 2008: Proceedings of the Workshop on Real-World Wireless Sensor Networks, pp. 1–5. ACM, New York (2008)
Danieletto, M., Mina, M., Zanella, A., Zanuttigh, P., Menegatti, E.: Recognition of smart objects by a mobile robot using sift-based image recognition and wireless communication. In: Proc. of European Conference on Mobile Robotics (ECMR 2009), Mlini/Dubrovnik, Croatia (October 2009)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Menegatti, E. et al. (2010). Discovery, Localization and Recognition of Smart Objects by a Mobile Robot. In: Ando, N., Balakirsky, S., Hemker, T., Reggiani, M., von Stryk, O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2010. Lecture Notes in Computer Science(), vol 6472. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17319-6_40
Download citation
DOI: https://doi.org/10.1007/978-3-642-17319-6_40
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-17318-9
Online ISBN: 978-3-642-17319-6
eBook Packages: Computer ScienceComputer Science (R0)