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We demonstrate the appropriacy of using laser distance meter as the accurate, cost-effective, simple solution for position estimation within precise 3D point cloud map in urban environment scenario. Our approach treats trilateration method with minimum error selection algorithm for better position accuracy of landmark. We validate the performance of our approach through 22 landmarks measured using...
Digital map can be a good materials for some robotic problems such as localization, segmentation, classification, SLAM algorithm. In this paper, we propose building wall extraction algorithm from land registration map image using corner, edge detection methods and simple matching approach. Experimental results show that this algorithm is valid for general land registration map.
Here we present 3D world modeling and its quantitative analysis methods in urban environment. If the expensive RTK GPS cannot be prepared, it is difficult to measure the accuracy of the 3D world model due to the blackout of GPS particularly in urban environment. To cope with this difficulty, we combine to process both satellite image and point cloud to compare each other in order to represents accuracy...
Simultaneous Localization and Mapping is the one of essential techniques for mobile robot navigation. In this paper, we propose rapid SLAM using simple map representation in indoor environment for mobile robot. This approach offers a new way to look at the problem focusing on the issues that have caused the use of 3D laser scanner which provide lot of 3D point data. We have tried to create the simple...
Fast detection of moving vehicle is essential for autonomous driving. In this paper we propose fast vehicle classification algorithm for autonomous vehicle using orientation histogram and segmented line projection, and also works well with in urban environment. The rapidness of our approach stems from the sequential laser data processing and orientation histogram techniques. Whereas accurate classification...
Simultaneous Localization and Mapping is the one of essential techniques for mobile robot navigation. In this paper, we propose a fast SLAM method that uses particle weight based occupancy grid map, and also works well with in indoor environment. In addition, in the prediction step, our method that uses the polar scan matching and wheel odometry information improves the accuracy of prediction pose...
This paper proposes a new 3D video stabilization method for a humanoid robot without explicit global camera motion estimation with respect to a reference frame. 2D video stabilization that uses a 2D camera motion model works well if scenes are far from the camera of the robot or can be modeled as a plane. However, because a humanoid robot operates in a real 3D space, these 2D video stabilization approaches...
This paper presents a new video stabilization algorithm for digital video cameras. The proposed technique directly estimates correction motion through point-feature trajectories, so that our method can be free from the error accumulation as time goes on. Furthermore, an adaptive RANSAC is proposed to estimate a robust correction motion. Experimental results show that the proposed algorithm can robustly...
This paper proposes a new system for point pattern matching based visual global localization using spot lightings in ceiling. The proposed algorithm is suitable for system that demands high localization accuracy and fast update rate such as a service guide robot in the exhibition or fair. A single camera looking upward direction is mounted on the head of the mobile robot, and spot lighting positions...
This paper proposes a new 3D video stabilization for humanoid eyes using vision and inertial sensors. Most existing video stabilization methods based on 2D motion model work well where scenes are far from the camera or can be modeled as a plane. But these 2D video stabilizations may fail to stabilize unstable videos because a humanoid robot operates in the real 3D world. And so far 3D video stabilization...
In this paper, new video stabilization system is presented for robot eye. This system is biologically inspired by the human vestibulo-ocular reflex. Feature tracker with inertial sensor is proposed to estimate the motion more accurately and fast. The rotational motion measured by the inertial sensor is incorporated into the KLT tracker in order to predict a position of feature in current frame. This...
In this paper, a new Digital Image Stabilization (DIS) system is for humanoid eyes presented. This DIS system was biologically inspired by the human Vestibulo-Ocular Reflex (VOR) system, and is based on a KLT tracker and an Inertial Measurement Unit (IMU). In order to more accurately estimate the motion between two consecutive image frames, corresponding points that were discovered by KLT tracker...
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