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The uncertainty associated with the experimental identification of the inertia tensor can be reduced by implementing adequate rotational and translational motions in the experiment. This paper proposes a particular 3D trajectory that improves the experimental measurement of the inertia tensor of rigid bodies. Such a trajectory corresponds to a motion in which the object is rotated around a large number...
Estimating the amount and center of distortion from lines in the scene has been addressed in the literature by the so-called ``plumb-line'' approach. In this paper we propose a new geometric method to estimate not only the distortion parameters but the entire camera calibration (up to an ``angular'' scale factor) using a minimum of 3 lines. We propose a new framework for the unsupervised simultaneous...
Many robotic systems combine cameras with Laser Rangefinders (LRF) for simultaneously achieving multi-purpose visual sensing and accurate depth recovery. Employing a single sensor modality for accomplishing both goals is an appealing proposition because it enables substantial savings in equipment, and tends to decrease the overall complexity of the system. This article explores the possibility of...
This paper presents the conceptual design of a hybrid electric off-road vehicle. The vehicle is intended to be used in Colombia (South America) where the topographical conditions require special considerations for the design of the critical systems. A study and preliminary design of the power supply system, the suspension and the powertrain are presented.
This article presents a general approach for the active stereo tracking of multiple moving targets. The problem is formulated on the plane, where cameras are modeled as ldquoline scan camerasrdquo and targets are described as points with unconstrained motion. We propose to control the active system parameters in such a manner that the images of the targets in the two views are related by an homography...
This paper presents the modelling of a multi-agent system at the basis of a computer tool for industrial operatorpsilas decision making support. The agents that compose the system implement a decentralized strategy to deal with contingency situations in industrial systems, based on the repair solutions approach. This paper discusses the agentspsila architecture for the context of electrical power...
Endoscopes consisting of a probe mounted with a camera head, are frequently used in medicine for inspection and visualization of human body cavities (knee and shoulder articulations, bronchi, nose, brain, etc). However the images often suffer from strong lens distortions. Estimation and correction of image distortion is important not only to improve the practitioner's perception of the inspected area...
This paper deals with active tracking of 3D moving targets. Tracking is based on different visual behaviors, namely smooth pursuit and vergence control. The performance and robustness in visual control of motion depends both on the vision algorithms and the control structure. In this work we evaluate these two aspects, characterize the delays, and discuss ways to cope with latency while improving...
This paper deals with active tracking of 3D moving targets. Tracking is based on different visual behaviors, namely smooth pursuit and vergence control. The performance and robustness in visual control of motion depends both on the vision algorithms and the control structure. In this work we evaluate these two aspects, characterize the delays, and discuss ways to cope with latency while improving...
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