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Automatic measurement of plant leaves is one of the key issues for vision guided robot operations in agricultural practices. In this paper, we present a study on plant leaf segmentation and 3D reconstruction of the leaf images using a time of flight camera. Depth and color images of plants are acquired in greenhouse by the low cost RGB-D camera and accordingly the depth and color data are utilized...
This paper proposes a robust 3D-map building process for a mobile robot using a LRF (Laser Range Finder). Instead of the expensive and bulky 3D-laser scanner, the LRF can be utilized and installed on the mobile robot for the map building and the autonomous navigation. The scanning operations are performed while the mobile robot is moving on the ground without stops. To filter out the high-frequency...
In this paper, we propose a height estimation scheme for Inertial Measurement Unit (IMU)-based PDR system in indoor buildings. Basically, we utilize a barometer to estimate height position of pedestrian. In addition, we design a KF and a WSEA to minimize the estimation error due to the barometer. The proposed algorithm has been tested in a real test bed. The experimental results show that the proposed...
This paper proposes the localization scheme using ultrasonic beacons in a multi-block workspace. Indoor localization schemes using ultrasonic sensors have been widely studied due to their cheap price and high accuracy. However, ultrasonic sensors are susceptible to environmental noises from their propagation characteristics. On account of their decay phenomena when they are transmitted over a long...
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