Abstract
In this work we investigate the problem of multi-robot cooperative localization in dynamic environments. Specifically, we propose an approach where wheeled robots are localized using the monocular camera embedded in the head of a Pepper humanoid robot, to the end of minimizing deviations from their paths and avoiding each other during navigation tasks. Indeed, position estimation requires obtaining a linear relationship between points in the image and points in the world frame: to this end, an Inverse Perspective mapping (IPM) approach has been adopted to transform the acquired image into a bird eye view of the environment. The scenario is made more complex by the fact that Pepper’s head is moving dynamically while tracking the wheeled robots, which requires to consider a different IPM transformation matrix whenever the attitude (Pitch and Yaw) of the camera changes. Finally, the IPM position estimate returned by Pepper is merged with the estimate returned by the odometry of the wheeled robots through an Extened Kalman Filter. Experiments are shown with multiple robots moving along different paths in a shared space, by avoiding each other without onboard sensors, i.e., by relying only on mutual positioning information.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
Notes
- 1.
Commercialized by iRobot, https://www.irobot.com/.
- 2.
Commercialized by SoftBank Robotics, https://www.softbankrobotics.com/us/pepper.
- 3.
- 4.
References
Boyle DP, Gupta HV, Sorooshian S (2000) Toward improved calibration of hydrologic models: Combining the strengths of manual and automatic methods. Water Resour Res 36(12):3663–3674
Bruno B, Chong N, Kamide H, Kanoria S, Lee J, Lim Y, Pandey A, Papadopoulos C, Papadopoulos I, Pecora F, Saffiotti A, Sgorbissa A (2017) Paving the way for culturally competent robots: a position paper. In: RO-MAN 2017 - 26th IEEE international symposium on robot and human interactive communication, vol 2017-January, pp 553–560
Civera J, Davison AJ, Montiel JM (2008) Inverse depth parametrization for monocular slam. IEEE Trans Rob 24(5):932–945
Guo C, Meguro JI, Kojima Y, Naito T (2014) Automatic lane-level map generation for advanced driver assistance systems using low-cost sensors. In: 2014 IEEE international conference on robotics and automation (ICRA), pp 3975–3982. IEEE
Laganiere R (2000) Compositing a bird’s eye view mosaic. Image 10:3
Lemaignan S, Warnier M, Sisbot EA, Clodic A, Alami R (2017) Artificial cognition for social human-robot interaction: an implementation. Artif Intell 247:45–69
Lin CC, Wang MS (2012) A vision based top-view transformation model for a vehicle parking assistant. Sensors 12(4):4431–4446
Ma L, Yang X, Tao D (2014) Person re-identification over camera networks using multi-task distance metric learning. IEEE Trans Image Process 23(8):3656–3670
Mallot HA, Bülthoff HH, Little J, Bohrer S (1991) Inverse perspective mapping simplifies optical flow computation and obstacle detection. Biol Cybern 64(3):177–185
Mastrogiovanni F, Sgorbissa A, Zaccaria R (2009) Context assessment strategies for ubiquitous robots. In: Proceedings IEEE international conference on robotics and automation (ICRA 2009), pp 2717–2722
Mastrogiovanni F, Sgorbissa A, Zaccaria R (2009) Robust navigation in an unknown environment with minimal sensing and representation. IEEE Trans Syst Man Cybern B Cybern 39(1):212–229
Maurino DE, Reason J, Johnston N, Lee RB (2017) Beyond aviation human factors: safety in high technology systems. Routledge
Miraldo P, Araujo H (2013) Calibration of smooth camera models. IEEE Trans Pattern Anal Mach Intell 35(9):2091–2103
Moreno D, Taubin G (2012) Simple, accurate, and robust projector-camera calibration. In: 2012 second international conference on 3D imaging, modeling, processing, visualization and transmission (3DIMPVT), pp 464–471. IEEE (2012)
Morro A, Sgorbissa A, Zaccaria R (2011) Path following for unicycle robots with an arbitrary path curvature. IEEE Trans Rob 27(5):1016–1023
Mukhtar A, Xia L, Tang TB (2015) Vehicle detection techniques for collision avoidance systems: a review. IEEE Trans Intell Transp Syst 16(5):2318–2338
Munaro M, Basso F, Menegatti E (2016) OpenPTrack: open source multi-camera calibration and people tracking for RGB-D camera networks. Rob Auton Syst 75:525–538
Muscolo G, Recchiuto C (2017) Flexible structure and wheeled feet to simplify biped locomotion of humanoid robots. Int J Hum Rob 14(1)
Oliveira M, Santos V, Sappa AD (2015) Multimodal inverse perspective mapping. Inf Fusion 24:108–121
Pandey AK, Gelin R (2018) A mass-produced sociable humanoid robot: pepper: the first machine of its kind. IEEE Rob Autom Mag 25(3):40–48
Parmiggiani A, Fiorio L, Scalzo A, Sureshbabu A, Randazzo M, Maggiali M, Pattacini U, Lehmann H, Tikhanoff V, Domenichelli D, Cardellino A, Congiu P, Pagnin A, Cingolani R, Natale L, Metta G (2017) The design and validation of the R1 personal humanoid. In: IEEE international conference on intelligent robots and systems, vol 2017-September, pp 674–680
Rubenstein M, Cornejo A, Nagpal R (2014) Programmable self-assembly in a thousand-robot swarm. Science 345(6198):795–799
Saeedi S, Trentini M, Seto M, Li H (2016) Multiple-robot simultaneous localization and mapping: a review. J Field Rob 33(1):3–46
Saffiotti A, Broxvall M, Gritti M, LeBlanc K, Lundh R, Rashid J, Seo B, Cho Y (2008) The PEIS-ecology project: vision and results. In: 2008 IEEE/RSJ international conference on intelligent robots and systems, IROS, pp 2329–2335
Siciliano B, Khatib O (2016) Springer handbook of robotics. Springer, Heidelberg
Stein G, Dagan E, Mano O, Shashua, A (2017) Collision warning system. US Patent 9,656,607
Tanveer MH, Recchiuto CT, Sgorbissa A (2018) Analysis of path following and obstacle avoidance for multiple wheeled robots in a shared workspace. Robotica 37(1):80–108
Tanveer MH, Recchiuto CT, Sgorbissa A (2018) Coordinated behaviour with a Pepper Humanoid robot to estimate the distance of other robot using inverse perspective mapping. In: IEEE international conference on automation and robotics (ICAROB)
Tanveer MH, Sgorbissa A (2018) An inverse perspective mapping approach using monocular camera of pepper humanoid robot to determine the position of other moving robot in plane. In: Proceedings of the 15th international conference on informatics in control, automation and robotics, vol 2. ICINCO, pp 219–225. INSTICC, SciTePress
Tuohy S, O’Cualain D, Jones E, Glavin M (2010) Distance determination for an automobile environment using inverse perspective mapping in OpenCV. In: IET irish signals and systems conference (ISSC)
Van der Walt S, Schönberger JL, Nunez-Iglesias J, Boulogne F, Warner JD, Yager N, Gouillart E, Yu T (2014) scikit-image: image processing in Python. PeerJ 2:e453
Wang X (2013) Intelligent multi-camera video surveillance: a review. Pattern Recogn Lett 34(1):3–19
Yenikaya S, Yenikaya G, Düven E (2013) Keeping the vehicle on the road: a survey on on-road lane detection systems. ACM Comput Surv (CSUR) 46(1):2
Acknowledgement
This work has been partially funded by the European Union’s Horizon 2020 research and innovation programme under grant agreement No 737858 (CARESSES (www.caressesrobot.org)).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Tanveer, M.H., Sgorbissa, A., Thomas, A. (2020). An IPM Approach to Multi-robot Cooperative Localization: Pepper Humanoid and Wheeled Robots in a Shared Space. In: Gusikhin, O., Madani, K. (eds) Informatics in Control, Automation and Robotics. ICINCO 2018. Lecture Notes in Electrical Engineering, vol 613. Springer, Cham. https://doi.org/10.1007/978-3-030-31993-9_21
Download citation
DOI: https://doi.org/10.1007/978-3-030-31993-9_21
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-31992-2
Online ISBN: 978-3-030-31993-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)