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Intertidal flats which are located between land and ocean are productive and rapidly changing places. But these places are now facing many environmental challenges related to climate change and human-induced impacts. Topographic change related to sedimentation or erosion in intertidal flats is the most evident sign of the environmental changes. The intertidal flats usually have small topographic variations...
Duckietown is an open, inexpensive and flexible platform for autonomy education and research. The platform comprises small autonomous vehicles (“Duckiebots”) built from off-the-shelf components, and cities (“Duckietowns”) complete with roads, signage, traffic lights, obstacles, and citizens (duckies) in need of transportation. The Duckietown platform offers a wide range of functionalities at a low...
Topographic change due to sedimentation and erosion of tidal flat is important for recognizing environmental changes and possible threatens. The tidal flat generally has small topographic variations and high moisture soil surfaces. The conventional SAR interferometric techniques cannot be used for generating DEMs in these tidal flats due to relatively short baseline. In this study, we developed a...
Intertidal flats are productive and rapidly changing places. However, these places are facing many environmental challenges related to climate change and human-induced impacts. Topographic change due to sedimentation or erosion in intertidal flats can be the key indicator for recognizing these environmental changes. The intertidal flats usually have small topographic variations (less than 5m) and...
TanDEM-X (TerraSAR-X add-on for Digitial Elevation Measurement), a German SAR satellite, was launched in June 2010. Since 2012, TanDEM-X mission has provided the most detailed global DEM with unprecedented accuracy. Also, they carried out various experimental mode including long baseline XTI (cross track interferometry). Despite their progressive instrument calibration and high accurate orbit determination,...
In this paper we present a visual verification approach for robotic assembly manipulation which enables robots to verify their assembly state. Given shape models of objects and their expected placement configurations, our approach estimates the probability of the success of the assembled state using a depth sensor. The proposed approach takes into account uncertainties in object pose. Probability...
This paper presents a particle filtering approach for 6-DOF object pose tracking using an RGB-D camera. Our particle filter is massively parallelized in a modern GPU so that it exhibits real-time performance even with several thousand particles. Given an a priori 3D mesh model, the proposed approach renders the object model onto texture buffers in the GPU, and the rendered results are directly used...
We present a 3D edge detection approach for RGB-D point clouds and its application in point cloud registration. Our approach detects several types of edges, and makes use of both 3D shape information and photometric texture information. Edges are categorized as occluding edges, occluded edges, boundary edges, high-curvature edges, and RGB edges. We exploit the organized structure of the RGB-D image...
This is the fifth year that ISMAR is organizing a tracking competition. It is encouraging to see how computing, imaging and new algorithms are coming together to enable increasingly complex tasks on mobile platforms.
This paper presents an approach to textureless object detection and tracking of the 3D pose. Our detection and tracking schemes are coherently integrated in a particle filtering framework on the special Euclidean group, SE(3), in which the visual tracking problem is tackled by maintaining multiple hypotheses of the object pose. For textureless object detection, an efficient chamfer matching is employed...
In this paper, we present an object pose estimation algorithm exploiting both depth and color information. While many approaches assume that a target region is cleanly segmented from background, our approach does not rely on that assumption, and thus it can estimate pose of a target object in heavy clutter. Recently, an oriented point pair feature was introduced as a low dimensional description of...
We propose a voting-based pose estimation algorithm applicable to 3D sensors, which are fast replacing their 2D counterparts in many robotics, computer vision, and gaming applications. It was recently shown that a pair of oriented 3D points, which are points on the object surface with normals, in a voting framework enables fast and robust pose estimation. Although oriented surface points are discriminative...
In this paper, we present a 3D model-based object tracking approach using edge and keypoint features in a particle filtering framework. Edge points provide 1D information for pose estimation and it is natural to consider multiple hypotheses. Recently, particle filtering based approaches have been proposed to integrate multiple hypotheses and have shown good performance, but most of the work has made...
We propose a combined approach for 3D real-time object recognition and tracking, which is directly applicable to robotic manipulation. We use keypoints features for the initial pose estimation. This pose estimate serves as an initial estimate for edge-based tracking. The combination of these two complementary methods provides an efficient and robust tracking solution. The main contributions of this...
One of the key competencies required in modern robots is finding objects in complex environments. For the last decade, significant progress in computer vision and machine learning literatures has increased the recognition performance of well localized objects. However, the performance of these techniques is still far from human performance, especially in cluttered environments. We believe that the...
A real-time solution for estimating and tracking the 3D pose of a rigid object is presented for image-based visual servo with natural landmarks. The many state-of-the-art technologies that are available for recognizing the 3D pose of an object in a natural setting are not suitable for real-time servo due to their time lags. This paper demonstrates that a real-time solution of 3D pose estimation become...
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