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This paper presents an occlusion-handling method for a target-tracking robot with a stereo camera. One of the main challenges with the robot is to continue tracking when the illumination changes and occlusion occurs. In order to cope with the challenge, we use both color and disparity images acquired from a stereo camera. The tracking system is composed of three phases: candidate extraction, target...
A human detection and tracking method using a stereo camera is presented in this paper. Two human detection methods are independently implemented, and the results are combined to reduce misdetection and nondetection. The tracking step is based on particle filtering. In the data association phase, we introduce three features: distance, traveling direction, and color. The color feature is obtained from...
This study presents a novel apprenticeship learning method to enable a learner to utilize demonstrations observed in an incompatible feature space. It is assumed that an expert and a learner follow non-identical Markov decision processes (MDPs), and a mapping function is estimated to obtain feature expectation of the demonstrations in an agent space. A conditional density estimation technique is used...
In this paper, a method that directly estimates motion parameters of a range image sensor using range images and optical flow of color images is proposed. Linear equations for motion parameters are introduced by utilizing optical flow. A three-dimensional (3D) map is constructed by registration of range images between frames using the estimated motion parameters. Experiments to construct a 3D map...
In this paper, a high-speed three-dimensional map generation method using direct estimation of the motion parameters of the sensor is proposed. Range images are aligned between frames after estimating the motion parameters of the sensor using the relationship of the range image and the motion parameters of a small motion. A 3D map can be created quickly because the method does not need to obtain the...
This paper proposes making a stereo camera using two fisheye cameras. The measurement range of the stereo camera is increased by using fisheye cameras. Fisheye images are deformed by using an equirectangular projection to simplify the stereo correspondence search in the images. Perspective transformation is applied to images so that feature points of far objects coincide in the images of the two cameras...
Tracking a specific person in dynamic environments is a fundamental task of mobile service robots. Image information is essential to identify a target person, however, the information is not reliable under varying illumination. In this paper, we propose a target-tracking system using a stereo camera. Color and location information is used for the target's feature, which is useful to distinguish a...
Apprenticeship learning based on inconsistent demonstrations is presented in this paper. We address a problem where given demonstrations are not directly applicable to reward function estimation due to the non-stationarity of an environment or the difference between the dynamics of a robot and a demonstrator. A basic idea of the proposed method is to use a subset of the trajectories sampled from the...
This paper presents a target tracking system for a mobile robot in both indoor and outdoor environments. A stereo camera, which is robust to sunlight and illumination changes, is used. Human regions in images are detected from 3D information. Using color information, a target region is discriminated from the detected human regions. Hue and saturation are chosen as features robust to illumination changes...
This paper proposes a method for the automatic tracking of multiple humans in various scenes using a stereo camera. The proposed method detects candidate regions of humans using “subtraction stereo,” which restricts stereo matching to foreground regions extracted by subtraction and obtains distance information for those regions. Tracking of humans is carried out for the extracted regions using a particle...
This paper proposes a human detection method that combines range image segmentation and human detection based on image local features. The method uses a stereo vision system called Subtraction Stereo, which extracts a range image of foreground regions. An extracted range image is segmented for each object by Mean Shift Clustering. Human detection based on local features is applied to each segment...
In this paper, novel reinforcement learning method with intrinsic motivation for reproducibility of the past successful experience is presented. The experience is extracted as skill, which is composed of action sequence and abstract knowledge about observed sensor input. Utilizing the collected skills, reproduction of the successful experience is attempted in novel and unknown environment. Consistent...
In this paper, novel reinforcement learning framework with intrinsic motivation to reproduce past successful experience is presented. Geometric transformation invariance is utilized to measure the reproducibility of experience. Top-down “expectation” to reproducibility of experience effectively biases strategy of exploration. As a result of consistent exploration via reproduction of successful experience,...
A new artificial potential field method for motion planning of mobile robot is developed in this paper. As a reactive motion of robot, a feedback oriented to the contour of repulsive potential function is applied with the ordinal attractive and repulsive component. Furthermore, inspired by Particle Swarm Optimization, particles as simplified virtual robots are utilized for motion planning. Each particle...
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