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3D GEOSPATIAL INDOOR NAVIGATION FOR DISASTER RISK REDUCTION AND RESPONSE IN URBAN ENVIRONMENT

T. Ghawana, M. Aleksandrov, S. Zlatanova
2018 ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
These parameters are level of detail, connection to outdoor, spatial model and network, handling constraints. 3D reconstruction of indoors requires the structural data to be collected in a feasible manner  ...  </strong> Disaster management for urban environments with complex structures requires 3D extensions of indoor applications to support better risk reduction and response strategies.  ...  Using mobile phone base station's signal patterns could be an approach to identify the users' location .  ... 
doi:10.5194/isprs-annals-iv-4-49-2018 fatcat:5njlfodwzbfoxi5l2lay76ouaq

ReVisE: Remote visualization environment for large numerical simulation datasets

Stepan Orlov, Alexey Kuzin, Alexey Zhuravlev, Vyacheslav Reshetnikov, Egor Usik, Vladislav Kiev, Andrey Pyatlin, Frederique Lisacek
2021 PLoS ONE  
The effectiveness of our approach is confirmed by results of performance measurements on test and real-life large datasets. A comparison with other visualization systems is presented.  ...  The paper presents a new open-source visualization system, named ReVisE, aimed to provide interactive visualization of large datasets, which are results of complex numerical simulations.  ...  Petersburg Polytechnic University for providing access to a DGX-1 machine and the "Tornado" supercomputer. In memory of professor Nikolay Shabrov, who launched the ReVisE project.  ... 
doi:10.1371/journal.pone.0255030 pmid:34314456 pmcid:PMC8315543 fatcat:kilf7psm5fafbejiemaf34cjya

Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot [article]

Yiduo Wang, Milad Ramezani, Maurice Fallon
2020 arXiv   pre-print
We describe the perception, planning and control modules needed to scan and reconstruct an object of interest, without requiring a prior model.  ...  In this paper, we develop an online active mapping system to enable a quadruped robot to autonomously survey large physical structures.  ...  In addition, we plan to base localisation on a pose-graph SLAM system [24] so that our active mapping approach can explore larger environments, with the benefit of loop closure.  ... 
arXiv:2002.09710v1 fatcat:unik4hkny5czdcwgugdgleyc5e

Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration [article]

Michael T. Ohradzansky, Eugene R. Rush, Danny G. Riley, Andrew B. Mills, Shakeeb Ahmad, Steve McGuire, Harel Biggie, Kyle Harlow, Michael J. Miles, Eric W. Frew, Christoffer Heckman, J. Sean Humbert
2021 arXiv   pre-print
The team presents two navigation algorithms in the form of a metric-topological graph-based planner and a continuous frontier-based planner.  ...  DARPA is seeking to change that with the Subterranean Challenge, by providing roboticists the opportunity to support civilian and military first responders in complex and high-risk underground scenarios  ...  A special thanks to Daniel Torres, Cesar Galant, Zoe Turin, for assisting with the design, testing, and deployments of our platforms and algorithms.  ... 
arXiv:2110.04390v1 fatcat:53a4flk2jrhbdkhmxfvipf4m2a

Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR

Margarida Faria, António Sérgio Ferreira, Héctor Pérez-Leon, Ivan Maza, Antidio Viguria
2019 Sensors  
Our approach combined frontier-based exploration, the Lazy Theta* path planner, and a flyby sampling manoeuvre to create a 3D map of large scenarios.  ...  With the proposed approach, the UAV is able to explore 93% of the search space under 30 min, generating a path without repetition that adjusts to the occupied space covering indoor locations, irregular  ...  Acknowledgments: The authors would like to thank LSTS for the enriching academical stay. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s19224849 pmid:31717255 pmcid:PMC6891309 fatcat:aehq227vrjfpdmcqpfwryr3wze

Designing a Highly Immersive Interactive Environment: The Virtual Mine

L. P. Soares, F. Pires, R. Varela, R. Bastos, N. Carvalho, F. Gaspar, M. S. Dias
2010 Computer graphics forum (Print)  
To achieve a full-scale simulation of a pyrite mine, a highly immersive environment becomes necessary and this research has led to a complex system enabling users to walk through a virtual mine in real  ...  To achieve our purposes, distributed algorithms were developed to run in a cluster solution that drives a four-sided CAVE-like environment.  ...  and PUC-Rio in Brazil, with the support of Eurographics Portuguese Chapter.  ... 
doi:10.1111/j.1467-8659.2010.01656.x fatcat:534osp6enjds7lgrqsbp7nnaym

Robotic Assistance in Medication Intake: A Complete Pipeline

Ioannis Kostavelis, Andreas Kargakos, Evangelos Skartados, Georgia Peleka, Dimitrios Giakoumis, Iason Sarantopoulos, Ioannis Agriomallos, Zoe Doulgeri, Satoshi Endo, Heiko Stüber, Faris Janjoš, Sandra Hirche (+1 others)
2022 Applied Sciences  
The challenges tackled in this work comprise, among others, that the robot locates the medication box placed in challenging spots by applying vision based strategies, thus enabling robust grasping.  ...  This paper presents a novel and complete pipeline for assistance provision in monitoring and serving of medication, using a mobile manipulator embedded with action, perception and cognition skills.  ...  A touch screen and voice-based interface integrated on a robot, introduced in [12] , proved it is an effective platform able to proactively support users with their healthcare delivery related to assistance  ... 
doi:10.3390/app12031379 fatcat:2toroyaimvdappjp46swhiwf4a

Rufael Mekuria

Unknown
2017 ACM SIGMultimedia Records  
Instead of mapping the octree directly to a graph and treating the colour attributes as a graph signal, we map the colour attributes directly to a structured JPEG image grid from a depth first tree traversal  ...  Based on software defined networking, quality of services for multimedia services can be deployed such as based on approaches in [34] [35] .  ...  Appendix A 3D Audio Visual Capture Model -Components and interfaces of a 3D A/V system Legend a.  ... 
doi:10.1145/3129151.3129159 fatcat:sws54gzf4jaszoq7s43wjlgtju

Mobile Manipulation, Tool Use, and Intuitive Interaction for Cognitive Service Robot Cosero

Jörg Stückler, Max Schwarz, Sven Behnke
2016 Frontiers in Robotics and AI  
Such robots require a vast set of control and perception capabilities to provide useful assistance through mobile manipulation and human-robot interaction.  ...  In this article, we present hardware design, perception, and control methods for our cognitive service robot Cosero.  ...  AcKnoWleDgMenTS The authors thank the members of team NimbRo@Home for their support in preparing and running the RoboCup competition systems: Nikita Araslanov, Ishrat Badami, David Droeschel, Kathrin  ... 
doi:10.3389/frobt.2016.00058 fatcat:4dov7svxive53bb2lerd4gai3u

NimbRo Explorer: Semiautonomous Exploration and Mobile Manipulation in Rough Terrain

Jörg Stückler, Max Schwarz, Mark Schadler, Angeliki Topalidou-Kyniazopoulou, Sven Behnke
2015 Journal of Field Robotics  
Our robot explores, maps, and navigates in previously unknown, uneven terrain using a 3D laser scanner and an omnidirectional RGB-D camera.  ...  In addition, we conducted systematic experiments to evaluate the performance of our approaches.  ...  We use efficient search-based planners and propose a robust approach to transition between neighboring 3D scans.  ... 
doi:10.1002/rob.21592 fatcat:zk3ysojlgrf3xgk7svjrgsdoxy

Visual Supercomputing: Technologies, Applications and Challenges

Ken Brodlie, John Brooke, Min Chen, David Chisnall, Ade Fewings, Chris Hughes, Nigel W. John, Mark W. Jones, Mark Riding, Nicolas Roard
2005 Computer graphics forum (Print)  
If we were to have a Grid infrastructure for visualization, what technologies would be needed to build such an infrastructure, what kind of applications would benefit from it, and what challenges are we  ...  We consider a broad range of scientific and technological advances in computer graphics and visualization, which are relevant to visual supercomputing.  ...  The Grid infrastructure must be able to support a vast range of applications, allowing its services to be incorporated into the applications using a mix-and-match approach.  ... 
doi:10.1111/j.1467-8659.2005.00845.x fatcat:jnptzeshong2pbeikdhzogxp5q

Analysis Domain Model for Shared Virtual Environments

Manuel Oliveira, Joel Jordan, Joao Pereira, Joaquim Jorge, Anthony Steed
2009 International Journal of Virtual Reality  
A shared virtual environment has an associated problem domain that is highly complex raising difficult challenges to the development process, starting with the architectural design of the underlying system  ...  The second contribution is a reference domain model for discussing and describing solutions - the Analysis Domain Model.  ...  The SPACE access model [11] is a more elaborate approach, consisting of an accessibility graph based on spatial boundaries [29] .  ... 
doi:10.20870/ijvr.2009.8.4.2745 fatcat:nbgciiycgfa5zckhleuct3bjyi

Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age

Cesar Cadena, Luca Carlone, Henry Carrillo, Yasir Latif, Davide Scaramuzza, Jose Neira, Ian Reid, John J. Leonard
2016 IEEE Transactions on robotics  
This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM.  ...  The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry.  ...  ACKNOWLEDGMENT The authors would like to thank all the contributors and members of the Google Plus community [26] , especially L. Paul, A. Huang and U.  ... 
doi:10.1109/tro.2016.2624754 fatcat:ufsx6fmwmjcqfl44mlpryr2khy

Visual Supercomputing - Technologies, Applications and Challenges [article]

K. Brodlie, J. Brooke, M. Chen, D. Chisnall, A. Fewings, C. Hughes, N. W. John, M. W. Jones, M. Riding, N. Roard
2004 Eurographics State of the Art Reports  
If we were to have a Grid infrastructure for visualization, what technologies would be needed to build such an infrastructure, what kind of applications would benefit from it, and what challenges are we  ...  We consider a broad range of scientific and technological advances in computer graphics and visualization, which are relevant to visual supercomputing.  ...  Special acknowledgements to Chris Hughes whose initial review motivated this report, Nigel John who suggested making this as a group exercise for the e-Viz project, and Min Chen who coordinated the preparation  ... 
doi:10.2312/egst.20041025 fatcat:dk436uf4yrgnhmllpef4ryf3ye

Modeling, Evaluation, and Scale on Artificial Pedestrians

Francisco Martinez-Gil, Miguel Lozano, Ignacio García-Fernández, Fernando Fernández
2017 ACM Computing Surveys  
We have used three main axes to organise the paper contents: pedestrian models, validation techniques and multiscale approaches.  ...  The aim of this paper is to provide a bibliographic outlook so that the reader could have a quick access to the most relevant works related with this problem.  ...  Acknowledgment The authors want to thank the anonymous reviewers for their helpful feedback. This work has been supported by grant TIN2015-65686-C5-1-R of Ministerio de Economía y Competitividad.  ... 
doi:10.1145/3117808 fatcat:ztlc3tejdrgfnjtelv3r52354i
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