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Self-localization is the most necessary foundation of mobile robot's navigation system. Omnidirectional vision system has been widely used in mobile robot. However, the accuracy of vision-based methods is not enough for many applications. In this paper, based on bearing-only localization, a probabilistic method is presented to accurately estimate mobile robot's position making use of omnidirectional...
Scene perception aims to build a semantic context for various tasks of visual processing, especially for object recognition. Binocular vision system is now widely equipped with mobile intelligent robots,however, monocular images are currently mostly used for scene perception task. One can obtain lower classification performance by using features extracted from monocular image as the complexity of...
It is a great challenge to perform a sound source localization system for mobile robots, because noise and reverberation in room pose a severe threat for continuous localization. This paper presents a novel approach named guided spectro-temporal (ST) position localization for mobile robots. Firstly, since generalized cross-correlation (GCC) function based on time delay of arrival (TDOA) can not get...
Human body detection and localization is an essential capability of an autonomous mobile robot which works in the human-robot interaction (HRI) environments. However, due to field of view (FOV) limitations, it is hard to detect all human bodies around a mobile robot by using a conventional camera, and distances between robots and human bodies are also difficult to estimate. In this paper, we propose...
Although lots of planning algorithms have focused on the planning of fixed manipulators and mobile robots in moderate dynamic environments, seldom planning algorithms can be employed to deal with mobile agents in the presence of large scenario scales and unpredictable changing obstacles. Path planning for mobile robots in unpredictable environments would be an extreme challenge since computational...
It is a great challenge to perform robust tracking for a mobile robot owing to dynamic environments. Also, fast motion or abrupt jerk of the robotic camera poses a severe threat for continuous tracking. To address these problems, a novel attention model is proposed motivated by human attention mechanism which consists of low level salient feature and high level scene semantics. The low level layer...
In this paper, we present a SIFT based Slope K method which is faster and more robust than the classical SIFT in landmark based localization. First, the slope k value can be used to erase mismatched feature points (outliers) of the two compared images. Second, the y position is determined by the slope k value. Therefore, the Slope K method is able to localizes about twice as more accurate as the classical...
Path planning for mobile robots with high degree of freedom (DOF) is an extreme challenge. Although lots of algorithms have focused on the planning of fixed manipulators and mobile robots with low degree of freedom, seldom of them can be employed to deal with high DOF mobile agents. The unpredictable obstacles and too many freedoms increased computational complexity dramatically. In this paper, a...
The probabilistic roadmap method (PRM) has been widely used in the field of robot path planning and based on it, a great number of variants have been developed addressing for different purposes, e.g. the lazy PRM method, the dynamic roadmap (DRM) method, and the dynamic bridge builder method (DBB). In this paper, PRM is extended as well-a hierarchical roadmap based rapid path planner is presented,...
It is very important for a robot to obverse its environment in real-time and walk without collision in a crowd. This paper presents a motion planning method, based on visual feedback, for safe Human-Robot Interaction (HRI) in dynamic environments. Firstly, in order to improve accuracy of features marching, Scale Invariant Feature Transform (SIFT) is merged into binocular stereo vision, which is used...
Global image features and local image features are comprehensively used in mobile robot's localization. In this paper, we proposed a geometric approach based on the combination of global image features. Considering the deficiency of the Weighted Gradient Orientation Histograms (WGOHs) for similar structure environments, color histograms are integrated as one vector for the localization. Besides the...
Robotic path planning in changing environments with difficult regions is an extremely challenge. Since the structure of configuration space (C-space) will change when obstacles move in workspace (W-space), the planner should have the capacity of building approximate structure of C-space, while avoiding intense computational complexity. Further, difficult regions will also change their positions, which...
In this paper, an improved algorithm to measure Chinapsilas EMU spacesuit joint damping parameters for the old passive robot system is presented. The measuring principle is based on robot kinematics and dynamics. Firstly, a kinematic model of the passive robot and the EMU spacesuitpsilas arm is built according to the special mechanical structure. Secondly, improved methods of solving the inverse kinematics...
The constraints on the target shape model were firstly explicitly built up. Then, based on the rank-3 constraint on the centralized multi-frame digital shape matrix, a nonlinear optimization criterion function about the set of the multi-frame depth vectors was suggested. In the iterative update of the nonlinear optimization process, the left singular transformation matrix of the SVD of the multi-frame...
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