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Autonomous robots that work in the same environment as humans must operate safely and adapt to handle various tools and deal with partial malfunctions. We propose an approach for estimating the robot structure and apply this approach for building a controller of dynamic motions. The robot structure is estimated by evaluating the mutual information (MI) among the sensor variables. Variables with high...
The recognition of the operations are important for the factories management. In the paper, we propose an operation action recognition method based on two wearable devices containing inertial sensors. A mobile solution that leverages wristbands to capture the motions of operations is comfortable for workers. We first design the features based on the physical parameters of operation actions. To systematically...
This paper discusses about the trajectory planning and controlled maneuvering of the vehicle in parking assist mode. The objective of the proposed algorithm is to use low-cost hardware like ultrasonic sensor in order to provide automated parking assist to the vehicle. The concept of grid occupancy is formulated in free space detection algorithm to compute lateral-longitudinal grid cell vacancy. The...
In this paper, a method for modeling three-dimensional scenes from a Lidar point cloud as well as a billboard calibration approach for remote mobile robot control applications are presented as a combined two-step approach. First, by projecting a local three-dimensional point cloud on two-dimensional coordinate system, we obtain a list of colored points. Based on this list, we apply a proposed ground...
This paper presents a method for estimating object poses based on force sensor information using a particle filter. Autonomous robots often face uncertainty of measurement of object position when they manipulate objects. Related studies dealing with uncertainty in manipulation mainly focused on motions while grasping objects. In contrast, however, a non-grasp contact motion can be advantageous because...
In this paper, we propose an illumination invariant lane color recognition method. Most of the conventional lane color recognition methods suffer from various illumination changes. In the past, the HSV color space has been commonly used to tell white and the yellow road lines, because the HSV color space is a range of specific colors. However, it is known that accurate road line recognition is difficult...
This paper presents a novel method to extract and track road boundaries in a temporal sequence of occupancy grids collected from a moving vehicle that is equipped with a laser scanner. The road boundaries are represented as circular arcs, where it is assumed that the boundaries are parallel to the driving direction. In order to find the optimal parameters of the circular arcs, first a one-dimensional...
In order to understand the underwater environment, it is essential to use sensing methodologies able to perceive the three dimensional (3D) information of the explored site. Sonar sensors are commonly employed in underwater exploration. This paper presents a novel methodology able to retrieve 3D information of underwater objects. The proposed solution employs an acoustic camera, which represents the...
In this article, we propose a data analytics development to detect unusual patterns of flights from a vast amounts of FDR (flight data recorder) data for supporting airline maintenance operations. A fundamental rationale behind this development is that if there are potential issues on mechanical parts of an aircraft during a flight, evidences for these issues are most likely included in the FDR data...
Human action recognition has been studied in many fields including computer vision and sensor networks using inertial sensors. However, there are limitations such as spatial constraints, occlusions in images, sensor unreliability, and the inconvenience of users. In order to solve these problems we suggest a sensor fusion method for human action recognition exploiting RGB images from a single fixed...
The eye structure of insects, which is called a compound eye, has interesting advantages. It has a large field of view, low aberrations, compact size, short image processing time, and an infinite depth of field. If we can design a compound eye camera which mimics the compound eye structure of insects, compound images with these interesting advantages can be obtained. In this paper, we consider the...
Gait recognition plays a very vital role in many practical applications of computer and robot vision in smart environments such as health care for elderly using smart home technology. Hence, it has been attracting considerable attentions from many machine vision researchers in last decades. In this paper, we propose a novel method for depth video-based gait recognition using robust features and deep...
As the world's aging population grows, fall is becoming a major problem in public health. It is one of the most vital risk to the elderly. Many technology based fall detection systems have been developed in recent years with hardware ranging from wearable devices to ambience sensors and video cameras. Several machine learning based fall detection classifiers have been developed to process sensor data...
In this paper, the problem of the exploration of an unknown environment by deploying a fleet of Micro-Aerial Vehicles (MAV) is considered. As a single robot has already proven its efficiency for this task, the challenge is to extend it to a multi-robots system to reduce the exploration time. For this purpose, a cooperative navigation strategy is proposed based on a specific utility function and inter-robots...
In recent years, a great many robot-assisted therapy systems have been developed and applied in neural rehabilitation. In this paper, we develop a wearable upper limb exoskeleton robot for the purpose of assisting the disable patients to execute effective rehabilitation. The proposed exoskeleton system consists of 7 degrees of freedom (DOFs) and is capable of providing naturalistic assistance of shoulder,...
This paper introduces a multi-Bayesian framework for detection and classification of features in environments abundant with error-inducing noise. This approach takes advantage of Bayesian correction and classification in three distinct stages. The corrective scheme described here extracts useful but highly stochastic features from a data source, whether vision-based or otherwise, to aid in higher-level...
In monocular vision systems, lack of knowledge about metric distances caused by the inherent scale ambiguity can be a strong limitation for some applications. We offer a method for fusing inertial measurements with monocular odometry or tracking to estimate metric distances in inertial-monocular systems and to increase the rate of pose estimates. As we performed the fusion in a loosely-coupled manner,...
Lane estimation plays a central role for Driver Assistance Systems, therefore many approaches have been proposed to measure its performance. However, no commonly agreed metric exists. In this work, we first present a detailed survey of the current measures. Most of them apply pixel-level benchmarks on camera images and require a time-consuming and fault-prone labeling process. Moreover, these metrics...
This paper focuses on target motion analysis by fusion of information from two moving acoustic sensors. These two sensors may obtain small measurements in order to make quick analysis of moving targets. In this situation, conventional approaches often fail to find accurate motion of targets. In this paper, a fusion algorithm for target motion analysis designed to handle this situation is proposed...
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