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In this paper, a vision-aided terrain referenced navigation (VATRN) algorithm constructed by point-mass filter (PMF) is accelerated by graphic processing unit (GPU). The terrain referenced navigation algorithm estimates the vehicle's position by blending INS data with measured terrain height, and matching that data with the stored digital terrain elevation database (DTED). On the other hands, the...
Small-world (SW) network-enabled 3D NoC (3D SWNoC) is capable of achieving better performance and lower energy consumption compared to conventional 3D MESH architectures. However, the 3D SWNoC still suffers from high power density and the resultant thermal hotspots leading to functionality and reliability concerns over time. The power consumption and thermal profiles of the 3D SWNoC can be improved...
As the importance of military usage of Unmanned Aerial Vehicle (UAV) increases, developing cost-effective UAV system is also being emphasized. In this paper, we integrated Predictive Ground Collision Avoidance System (PGCAS) used in military jet fighters into UAV to develop a low-cost flying safety system that can help an operator to concentrate fully on their missions setting aside the danger of...
In this paper, we present a detection range enhanced antenna for mobile ultra-high frequency (UHF) RFID (Radio-frequency identification) applications. For the detection rage enhancement, triple polarization switching is used with a pair of parallel dipoles and a feeding network. The pair of parallel dipoles placed orthogonally each other to make a three polarization states by controlling the switches...
In this paper, we present a children's posture analysis system using the Kinect while they are performing the yoga poses with the Nao robot. We collected posture data from eighteen children who were kindergaten kids and their posture accuracy was annotated by an expert into four different levels. For a feature extraction, we apply a method of an angular skeleton representation in every frame and those...
Controlled Flight Into Terrain (CFIT) is reported as a major cause of today's aircraft accidents. To mitigate these accidents, Predictive Ground Collision Avoidance System (PGCAS) has been used since the mid-70s. In PGCAS algorithm, however, relatively large safety margin for the terrain searching pattern could cause some drawbacks such as nuisance alarms or unnecessary pull-up commands during a tactical...
The robust marker tracking and relative navigation algorithms are presented for precise UAV vision-based autonomous landing. To recognize the marker in close-range, the concentric circles are adopted as the marker with ellipse fitting algorithm based on Direct Least Square. We assume that IMU provides vehicle's attitude and altitude so that we consider GPS-denied situation. Also multiple ellipses...
In recent years, many studies have shown that horse riding exercises have positive effects on promoting both physical and psychological health. To maximize the effects, the correct posture is essential when riding a horse. Therefore, the purpose of this study is to present an algorithm for estimating a human pose from depth data while riding a horse simulator. This estimated information can be used...
In this paper, we present close-range vision navigation and guidance for rotary autonomous landing. To consider the case which the entire shape of the marker cannot be shown in close range, we suggest a marker design consists of ‘H’ shape and concentric circles. To recognize circles using only portion of the marker, ellipse fitting method by direct least square is used. Thus, the pixel coordinates...
In this paper, we studied for the ellipse fitting problem when an unmanned aerial vehicle (UAV) reaches near a landing marker for vision-based autonomous landing. Due to limited field of view of a camera, the entire shape of the landing marker cannot be captured as the vehicle approaches it. Also, depending on the vehicle's pose, the shape of the maker is shown distortedly. In order to overcome these...
In this paper, we propose a number recognition method to quickly and accurately get bus route information for the visually-impaired from natural scenes. We take a boosting approach based on Modified Census Transform (MCT) features, applied with success to number detection. Then, a gradient-based feature extraction algorithm is used to recognize the route number from detected samples. Finally, the...
In this paper, we improve the accuracy and robustness of nonlinear least squares algorithm in pose estimation problem for UAV. To improve accuracy and robustness, first we reduced the noise of feature position of beacon. We apply Kalman Filter to feature position. After the Kalman Filter, the accuracy is improved approximately 40% in simulation study. Second, We organized the Relative Navigation Filter...
We propose a user pose verification technique using depth information to compare their pose with expert riders. Xtion sensor by Asus is used for gathering a depth data in real world. The user pose verification algorithm is divided into two categories: user segmentation and user pose verification. In user segmentation step, body parts are segmented based on the region growing algorithm from a head...
IT technologies have started to be applied to many fields such as sports science, robotics or BT. Especially, object detection and recognition using vision sensor has intensively studied due to diverse application fields. But, various illumination condition, pose or time progress have put object detection and recognition to challenge task in the real world. In this paper, face detection and recognition...
In this paper, we present a multiplication table game that automatically detects and recognizes handwritten digits written on the white board. The result of the multiplication of two numbers would not only be displayed on the monitor, but it would be also spoken by the Text To Speech (TTS). The proposed application is divided into three stages: 1) detect a white board; 2) segment candidate regions...
This paper investigates terrain referenced navigation (TRN) system integrated with inertial navigation system (INS). TRN system estimates navigation information of an aircraft by using a terrain elevation database and radar altimeter measurements. We derive 15-state strapdown INS error kinematics equations to design fusion algorithm. A point mass filter (PMF) based on Bayesian estimation is applied...
A vision-only navigation system is addressed for autonomous navigation of unmanned aerial vehicles (UAVs) with monocular camera as the only sensor. Typical vision-based navigation algorithms blend inertial navigation data with vision measurements and other available information to estimate vehicle's position. In this paper, however, we propose an approach that replaces the high-cost inertial navigation...
Nanoelectromechanical systems (NEMS) is an emerging nanoscale technology that combines mechanical and electrical effects in devices. A variety of NEMS-based devices have been proposed for integrated chip designs. Amongst them are near-ideal digital switches. The electromechanical principles that are the basis of these switches impart the capability of extremely low power switching characteristics...
This paper proposes a novel algorithm for tracking a target from UAV(Unmanned Aerial Vehicle). No knowledge is assumed about the target, apart from being in motion. The algorithm includes optical flow to compute velocity field of sequential frames. Velocity field varies radically near the boundary of the target. This simple fact enables to segregate the target and background from the scene and to...
Archival data storage plays a critical role in data preservation as almost all current data will eventually be archived. In addition, the demands placed on archival storage tiers are growing because of large regularly-scheduled backups. Archival storage tiers usually consist of tape-based devices with a large storage capacity, but limited I/O performance for retrieving data, especially when multiple...
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