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This paper proposes a noble avoidance control algorithm based on omni-directional visual simultaneous localization and mapping (OVSLAM) with a fisheye lens camera. In addition, a robot avoids colliding with an obstacle regardless of the obstacle’s state by analyzing the information of the object obtained from an OVSLAM approach. OVSLAM has many advantages for object detection and mapping because it...
This paper proposes a method to detect rear object using vehicle information and optical flow in moving vehicles. The previous method detects objects by method using optical flow, background removal, and frame difference in the stopped vehicle state. In particular, optical flow method uses analysis of background or flow distribution to remove the background flow. In this paper, however, objects detect...
Due to motorcycles or vehicles, sudden accidents often occur when passengers disembark from buses at bus stops. These crashes may often cause risks to passengers. In this paper, we present a vision-based threat object (TO) detection and passenger safety system that helps bus drivers and ensures passengers safety when getting off and on buses. In these systems, the fast detection of threat objects...
In this paper, we have proposed a novel localization algorithm for small size transport vehicle with the Short Range of the UHF RFID technology and the wheels odometry that are fused by Sequential Importance Resampling Particle Filter(SIR PF) Instead of the HF RFID because HF RFID have a problem that is a limitation of the moving speed of the mobile robots, so to solve the such problem we used for...
This paper proposes a robust image stabilization system for a mobile robot using Extended Kalman Filter (EKF). Though image information is one of the most efficient data for robot navigation, it is subject to noise which results from internal vibration as well as external factors such as uneven terrain, stairs, or marshy surface. The vibration of camera deteriorates the definition of image by destroying...
This paper proposes a noble around view system based on moving object detection algorithm using background subtraction for safe bus getting on-and-off. Recently, vehicles tend to equip with several types of cameras on them as standard option for safety. Since full sized vehicles like buses confront with more moving persons around them comparing with small sized cars, they may need around view monitoring...
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