The title of the project is “New Localization, Mapping and Motion Planning methods with RGB-D Sensing for Industrial Flexible Manufacturing System”. The goal of the project is to design and implement new perception methods based on 3D sensors, which enable efficient work of the robot in flexible manufacturing systems. The robot will be equipped with a collaborative arm and mobile platform to move autonomously between defined workstations using 3D sensors like RGB-D cameras and laser scanners. The new perception system will allow the robot to localize and move autonomously between defined workstations, localize with respect to the workstation, manipulate objects and avoid collisions with machines. Finally, we are going to design a new interface based on voice commands to enable flexible robot programming by end-users.

 

Publications:

  • D. Belter, M. R. Nowicki, Optimization-based legged odometry and sensor fusion for legged robot continuous localization, Robotics and Autonomous Systems, Vol. 111, pp. 110-124, 2019
  • J. Wietrzykowski, P. Skrzypczyński, PlaneLoc: Probabilistic global localization in 3-D using local planar features, Robotics and Autonomous Systems, Vol. 113, pp. 160-173, 2019
  • K. Piaskowski, R. Staszak, D. Belter, Generate What You Can’t See – a View-dependent Image Generation,  IEEE/RSJ 2019 International Conference on Intelligent Robots and Systems, Macau, China, pp. 5903-5909, 2019
  • K. Zieliński, D. Belter, Keyframe-based Dense Mapping with the Graph of View-Dependent Local Maps, IEEE International Conference on Robotics and Automation (ICRA), pp. 10744-10750, 2020
  • K. Piaskowski, D. Belter, Fast Object Detector Based on Convolutional Neural Networks, In: Image Processing, Computer Vision, Pattern Recognition, and Graphics, Barneva, R.P., et. al (Eds.), CompImage 2018, pp. 173-185, 2019
  • D. Belter, K. Piaskowski, R. Staszak, Keyframe-based Local Normal Distribution Transform Occupancy Maps for Environment Mapping, IEEE 23rd International Conference on Emerging Technologies and Factory Automation (ETFA), pp. 706-712, 2018
  • J. Piasek, R. Staszak, K. Piaskowski, D. Belter, Multi-sensor extrinsic calibration with the Adam optimizer, 12th International Workshop on Robot Motion and Control (RoMoCo), pp. 209-214, 2019
  • R. Staszak, D. Belter, Hybrid 6D Object Pose Estimation from the RGB Image,  Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics, Vol. 1, pp 541-549, 2019
  • D. Belter, Kinematic Structures Detection and Estimation with Neural Network and Black-box Optimization, proc. of PP-RAI’2019, Wrocław, pp. 192-195, 2019
  • R. Staszak, M. Molska, K. Młodzikowski, J. Ataman, D. Belter, Kinematic Structures Estimation on the RGB-D Images, IEEE 23rd International Conference on Emerging Technologies and Factory Automation (ETFA), 2020

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