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We present a fully-populated 2D-phased array, capable of emitting directed air-coupled ultrasound at 40 kHz without any grating lobes. In comparison to our previous work [Konetzke et al, IUS 2015], in which we describe a 1D-phased array, we use 3D printing techniques to realize a wave guide structure that fulfills the half-wavelength criteria of 4.3 mm. The key idea is to use the wave-guide structure...
In visual simultaneous localization and mapping (SLAM) field, especially for feature based stereo-SLAM, data association is one of the most important and time-consuming sub-tasks. In this paper, we investigate the roles of different measured features during the data association process and present a new hybrid feature parametrization approach for stereo SLAM, which only selects a subset of the matched...
Autonomous robots also known as Unmanned Ground Vehicles (UGV) is of broad and current interest, in both research and industry. Many studies have been done in stereo vision based UGV vision in positive obstacle detection and avoidance, but negative obstacle detection and avoidance remains less explored. In this paper, we propose a new method to detect negative obstacles incorporating the knowledge...
In this work, we use computer vision to improve odometry result of multiple robots with shared information amongst neighboring region. We use a stereo camera to captures images. Each robot handles visual odometry to localize itself using stereo images. For every frame that is captured, there are errors in calculations, and these errors do accumulate and cause drift in odometry results. To solve this...
It's a new trend for architecture designs that using virtual reality technology in BIM in the life cycle of construction but it still lacks of applications for integration management. GIS is a spatial information system in the professional form of data acquisition, processing, analysis, management and display. Because their application domains are different, the file formats are not compatible that...
Stereo matching is a challenging problem with respect to weak texture, discontinuities, illumination difference and occlusions. Therefore, a deep learning framework is presented in this paper, which focuses on the first and last stage of typical stereo methods: the matching cost computation and the disparity refinement. For matching cost computation, two patch-based network architectures are exploited...
The unmanned aerial vehicles (UAVs) have been considered an efficient platform for monitoring critical infrastructures spanning over a large geographical area. In this paper, a novel UAV optimal path planning approach based on the combination of A∗ search algorithm (AS) and ant colony optimization (ACO) algorithm for UAV patrolling is presented. The proposed path planning solution aims to identify...
This paper presents an improved approach for face pose estimation based on depth data using particle swarm optimization (PSO). In this approach, the frontal face of the system-user is first initialized and its depth image is taken as a person-specific template. Each query face of that user is rotated and translated with respect to its centroid using PSO to match with the template. Since the centroid...
The calibration process of a stereo rig is normally done by making two cameras view one special designed calibration pattern (such as checkerboard) at the same time to estimate the relative rotation between two cameras. Multiple image pairs from different perspectives are required for better estimation accuracy. Stereo rig with wide baseline is necessary when accurate depth estimation for distant...
This paper presents the stereo based obstacle detection system for unmanned surface vehicle (USV). The system is designed and developed toward the aim of real-time and robust obstacle detection and tracking at sea. Stereo vision methods and techniques have been employed to offer the capacity of detecting, locating and tracking multiple obstacles in the near field. Field test in the real scenes has...
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