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The objective of this paper is to develop 3D underwater reconstruction of archeology object, which is based on a mono-camera. The underwater images are obtained from a calibrated camera system. We first solve the problem of image processing by applying the well-known filter, therefore to improve quality of underwater images. The features of interest between image pairs are selected by well-known methods:...
In this paper, we propose a real-time vision-based localization approach for humanoid robots using a single camera as the only sensor. In order to obtain an accurate localization of the robot, we first build an accurate 3D map of the environment. In the map computation process, we use stereo visual SLAM techniques based on non-linear least squares optimization methods (bundle adjustment). Once we...
We present a robotic embodiment experiment based on real-time functional Magnetic Resonance Imaging (rtfMRI). To our knowledge, this is the first time fMRI is used as an input device to identify a subject's intentions and convert them into actions performed by a humanoid robot. The process, based on motor imagery, has allowed subjects located in Israel to control a HOAP3 humanoid robot in France,...
In this paper, we present a method for emulating human walking motions with leg impairments or disabilities using humanoid robots. Our optimal dynamic multi-contact motion software generates the emulated motions. We take into account the full-body dynamic model of the robot and consider possible leg impairments as additional physical constraints in the optimization problem. The proposed approach is...
This work presents the use of a brain-computer interface (BCI) system in order to steer a humanoid robot. We aim at designing a ready-to-use system allowing the user to manipulate the robot in an unknown environment. This design induces some constraints on the BCI system design that we present in this paper. Given these constraints, two steering paradigms based upon the steady-state visually evoked...
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