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Acquiring the accurate 3-D position of a target person around a robot provides fundamental and valuable information that is applicable to a wide range of robotic tasks, including home service, navigation and entertainment. This paper presents a real-time robotic 3-D human tracking system which combines a monocular camera with an ultrasonic sensor by the extended Kalman filter (EKF). The proposed system...
Temporal asynchrony between two cameras in the vision system is a usual problem in practice. In some vision task such as estimating fast moving targets, the estimation error caused by the tiny temporal asynchrony will become non-ignorable essentials. This paper will address on the asynchrony in the stereo vision system of humanoid Ping-Pong robot, and present a real-time accurate Ping-Pong ball trajectory...
Bridge inspection is a critical responsibility and essential task. Currently, many bridges should be inspected periodically for safety tests. Also, the maintenance and repair cost of bridges has rapidly increased every year, because the conventional methods such as bridge-detection vehicle and human visual inspection are time-consuming, expensive and lack quantitative objectivity. This paper proposes...
3D cinema is heading towards self-sufficient maturity both technically and aesthetically. In this paper, I will undertake a comparative analysis of the distinctions between 3D and 2D cinema based on a correlation between techniques of production and perceptual physiologies. Moreover, with reference to Siegfried Kracauer's classic remark about cinematic ontology that “the nature of film is the redemption...
It is an essential requirement to keep vehicles running along straight line on road for automobiles and it is also a key guarantee for traffic safety. However, because of certain errors during manufacture and assembly for automobile, there are some vehicles with big deflection lean to certain direction while running on flat road. To avoid vehicles with big deflection exceeding the limit offset coming...
This Clud computing is the “post-PC” product of the times, and are profoundly affecting computer vision science. Using of clud computing method can achieve accurate detection of objects moving target location, thus fulfilling the object of physical space and information space integration. Based on the binocular visual motion detection algorithm is proposed. Using multiple cameras for eyes can deal...
This Pervasive computing is the "post-PC" product of the times, and are profoundly affecting computer vision science. Using of pervasive computing method can achieve accurate detection of objects moving target location, thus fulfilling the object of physical space and information space integration. Based on the binocular visual motion detection algorithm is proposed. Using multiple cameras...
An obstacle detection approach based on contour view synthesis for inspection robot on transmission line is presented in this paper. When the robot is offline, the virtual contour images for multiple view of obstacles are reconstructed, in which the contours of obstacles are extracted by means of gradient magnitude based contour extraction algorithm, and the corresponding points on the left and right...
This paper describes an industrial robot joint offset calibration method called the virtual line-based single-point constraint approach. Previous methods such as using CMM, laser trackers or cameras are limited by the cost or the resolution. The proposed method relies mainly upon a laser pointer attached on the end-effector and single position-sensitive detector (PSD) arbitrarily located on the workcell...
The key of camera calibration is to calculated the initial value of extrinsic and intrinsic camera parameters. Since the calculation of initial value is not a purely linear problem, 3D measurement products are often using a fixed focal length camera calibration method, but the measuring exists the problem of inconvenience of usage and a limited measurement-range. We have derived a novel camera calibration...
Sensor based robot control allows manipulation in dynamic and uncertain environments. Vision can be used to estimate 6-DOF pose of an object by model-based pose-estimation methods, but the estimate is not accurate in all degrees of freedom. Force offers a complementary sensor modality allowing accurate measurements of local object shape when the tooltip is in contact with the object. As force and...
Robot control in uncertain environments can greatly benefit from sensor based control. Visual sensing allows the robot to examine its surroundings and adapt to the environment. Force offers a complementary sensory modality allowing accurate measurements of local object shape when a tooltip is in contact with the object. In multimodal sensor fusion several sensors measuring different modalities are...
This paper presents a new and effective multisensor based control strategy for high-accuracy/precision and high-efficiency automatic robot localization and calibration. The strategy combines both coarsely visual servo and fine position-sensitive detector (PSD) servo control methods. In a large field of view, an image-based visual servo control system is developed to roughly guide the laser beam, which...
Sensor-based robot control allows manipulation in dynamic environments with uncertainties. Vision offers a low-cost sensor modality, but low sample rate, high sensor delay and uncertain measurements limit its usability. This paper addresses three problems: uncertain visual measurements, different sampling rates and compensation of the sensor delay. To alleviate the problems above an approach for visual...
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