28 documents found, page 1 of 3
Real-time 2D–3D door detection and state classification on a low-power device
Ramôa, João Gaspar; Lopes, Vasco; Alexandre, Luís; Mogo, SandraIn this paper, we propose three methods for door state classifcation with the goal to improve robot navigation in indoor spaces. These methods were also developed to be used in other areas and applications since they are not limited to door detection as other related works are. Our methods work ofine, in low-powered computers as the Jetson Nano, in real-time with the ability to diferentiate between open, closed...
Pragma-Oriented Parallelization of the Direct Sparse Odometry SLAM Algorithm
Pereira, C.; Falcao, Gabriel; Alexandre, LuísMonocular 3D reconstruction is a challenging computer vision task that becomes even more stimulating when we aim at real-time performance. One way to obtain 3D reconstruction maps is through the use of Simultaneous Localization and Mapping (SLAM), a recurrent engineering problem, mainly in the area of robotics. It consists of building and updating a consistent map of the unknown environment and, simultaneously,...
Detecting Robotic Anomalies using RobotChain
Lopes, Vasco; Alexandre, LuísRobotic events can provide notable amounts of information regarding a robot’s status, which can be extrapolated to detect productivity, anomalies, malfunctions and used for monitorization. However, when problems occur in sensitive environments like a factory, the logs of a machine may be discarded because they are susceptible to chances and malicious intents. In this paper we propose to use RobotChain for anoma...
Towards AGV Optimization using ROS and Stage Simulator
Silva, Bruno Carneiro da; Alexandre, LuísAutonomous Guided Vehicles (AGV) are currently being used in industry to move materials efficiently. Simulators may be used to help calculate the right number of AGVs needed for a particular task and also which types better suit the necessity of a company. This paper analyzes the characteristics of many of the most used simulators and focus on evaluating an environment using Stage and Robot Operating System (RO...
Robot Workspace Monitoring using a Blockchain-based 3D Vision Approach
Lopes, Vasco; Pereira, Nuno; Alexandre, LuísBlockchain has been used extensively for financial purposes, but this technology can also be beneficial in other contexts where multi-party cooperation, security and decentralization of the data is essential. Properties such as immutability, accessibility and non-repudiation and the existence of smart-contracts make blockchain technology very interesting in robotic contexts that require event registration or in...
A Multimodal Approach to Image Sentiment Analysis
Gaspar, António; Alexandre, LuísMultimodal sentiment analysis is a process for the classi- cation of the content of composite comments in social media at the sentiment level that takes into consideration not just the textual content but also the accompanying images. A composite comment is normally represented by the union of text and image. Multimodal sentiment analysis has a great dependency on text to obtain its classi cation, because image...
An Overview of Blockchain Integration with Robotics and Artificial Intelligence
Lopes, Vasco; Alexandre, LuísBlockchain technology is growing everyday at a fast-passed rhythm and it is possible to integrate it with many systems, namely Robotics with AI services. However, this is still a recent field and there is not yet a clear understanding of what it could potentially become. In this paper, we conduct an overview of many different methods and platforms that try to leverage the power of blockchain into robotic system...
Image Sentiment Analysis: Experimental Evaluation of Several Deep Learning Arch...
Gaspar, António; Alexandre, LuísImage sentiment analysis is an important topic nowadays. It is possible to use it to classify an image at sentiment level, as negative, neutral or positive. However, to classify an image at this level is a hard challenge because its semantic meaning can represent many scenarios. In this paper, we present an analysis of several image classification methods that we evaluate to improve the state of the art in a la...
Using PCL Gobal Descriptors in a DenseFusion Architecture
Pereira, Nuno; Alexandre, LuísIn this paper, we present an alternative architecture to the state-of-the-art in 6D pose - DenseFusion. We changed the architecture of the method in the depth feature extraction phase. Instead of using the PointNet, as used in the original DenseFusion, we used global descriptors from the Point Cloud Library (PCL) to extract features. We made a comparison in terms of average accuracy between the Ensemble of Shap...
Robotchain: Using Tezos Technology for Robot Event Management
Fernandes, Miguel; Alexandre, LuísRobots are important equipment in the modern day factory environment. To maintain and improve factory productivity, ledgers containing robotic actions may be used to identify possible bottleneck points in an assembly line or to serve as a record of in unintentional behaviours, be it of a malicious nature or not. In this paper we present Robotchain, a possible solution using blockchain technology, that prevents ...