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In this paper, a Simulink model for the robot navigation in unknown environment is presented. The robot navigation is handled by two controllers: pure pursuit and fuzzy logic controller. The pure pursuit controller computes a direct path from start to goal position without considering the obstacles in the path. For obstacle avoidance in robot navigation, the fuzzy logic controller is taken. This fuzzy...
The computer-based cell and tissue analysis has always been an active area of healthcare informatics, but the popularity has greatly increased since the evolution of hardware. The process began about a decade ago, and since then it has become a key research area in medical informatics. Over the years various approaches were attempted by the developers, these are mostly based on the properties of the...
This paper features a software system called ∞Exarns (InfinityExams) which supports (primarily in higher education) paper-based examination and makes it easier, more comfortable and speeds up the whole process while keeping every single positive attribute of it but also reducing the number of negative aspects. The approach significantly differs from the ones used in the previous 10+ years which were...
The Radon transform and the reverse formulas are mostly used in computer tomography to reconstruct the original shape. The projections of an image could be used in computer vision for object recognition, based on projection matching. By comparing the projections, an effective method could be defined. To understand the projection behavior the basic properties of the transform are inspected, and the...
The paper presents the implementation of pure pursuit algorithm using probabilistic roadmaps (PRM) in robot navigation. The map of the robot's environment is generated as occupancy grid. In the occupancy grid map, the probabilistic roadmaps are obtained. A desired path from start to end location of the robot navigation is obtained from probabilistic roadmaps. Experimental work is carried out on simulated...
Several methods are available in computer vision to recognize objects. Mostly, these methods consist of two well-separated parts: first the region of interest has to be recognized on the input image. After this, the visual representation of the object has to be compared with already-known samples: there are several ways, mostly based on the shape, color and pattern, or corner- or keypoints of the...
This paper presents the implementation of A∗ algorithm as a global path planner for the navigation of a Turtlebot robot. A map of the navigation environment has been developed for a Gazebo simulator's world. Manhattan distance, octile distance, and Euclidean distance heuristic functions are used to estimate the cost of moving from a cell to the goal cell of the environment. Time taken by the global...
This paper introduces a novel method to calculate multi-directional projections of squared images, similar to the Radon transformation. Image projections are often used as object signatures for detection, matching and tracking techniques in computer vision. The Radon transformation provides a fast solution to calculate these pixel intensity sums. The proposed method is based on trigonometric functions...
In this paper we have developed a simple algorithm for robot obstacle avoidance using bumper event. This algorithm is implemented on Turtlebot (a robot model) in the Gazebo simulator and on a real Turtlebot robot. The bumper and state fields of robot's bumper event are studied for the different command velocities. The experimental results are shown by Mat plots using ROS (robot operating system) tool...
To simulate the behaviour of cell-level biological interactions, cells can be modeled as individual agents interacting with each other. To identify the effects of parameter perturbation, a massive number of simulations are usually required that are feasible to carry out by parallel computation. In this article, a multiprocessing scheme is defined to reduce the overall runtime. The scheme relies on...
For a mobile robot to be able to navigate in an unknown environment it must create a model of that area, but also it has to be able to place itself in that model, and do these things at the same time. This process that consists of these two problems is called Simultaneous Localization and Mapping. Those SLAM systems, that use image processing to gain information for their operations are called Visual...
This work presents how we can apply feature descriptor and classifier methods to support indoor navigation for robots. Our aim is to recognize objects (such as doors, elevators/lifts, chairs, fire extinguishers, sockets) in man-built environments where our robot can move. Having recognized the objects, information as to where each object can be found is transmitted to the mapping module for recording...
Template matching is a classic technique used in image processing for object detection. It is based on multiple matrix-based calculations, where there are no dependencies on partial results, so parallel solutions could be created. In this article two GPU implemented methods are presented and compared to the CPU-based sequential solution.
The paper presents a safe robot navigation system based on omnidirectional vision. The 360 degree camera images are analyzed for obstacle detection and avoidance and of course for navigating safely in the given indoor environment. This module can process images in real time and extracts the direction and distance information of the obstacles from the camera system mounted on the robot. This two data...
The paper introduces a solution of Simultaneous Localization and Mapping what use basic sensors of TurtleBotlI like integrated odometer and gyroscope in Kobuki robot base, as well as XBOX 360 Kinect RGBD data. We can define new position and orientation of robot using previous location and sensors' data with Extended Kalman Filter (EKF) in indoor environment. The client program communicates with Robot...
Generally, template matching methods are very sensible to image orientation, rotation or the size of the template. However, there are known occasions, when they perform better then other keypoint-based techniques. This article demonstrates a massively parallelizable method to multi-scaled template matching. By implementing it sequentially on CPU and on GPU with a naive approach, the runtimes can be...
Our faculty has recently managed to buy a Turtlebot 2 robot. The final aim of the project is to develop a low-cost home support robot that will be capable of executing simple tasks, such as locating and fetching known objects while avoiding obstacles that can be found in a typical home environment. This paper is about our first steps in the TekiControl project: it describes the basic principles and...
The aim of the article is to briefly summarize the main challenges on the field of multi-view computer vision, and by proposing available techniques, novel methods may be developed to several fields. After a grouping of systems with multiple cameras is proposed, current challenges are reviewed, and for every field, the disadvantages of current applications are pointed out.
In this article we describe an automatic initialization-free method for building and managing book catalogs. At the heart of the system there is an image processing algorithm which can analyze the contents of an image taken of a bookshelf, separate the book spines into subsequent images and use an OCR algorithm on it to find the title and author of the book. The title and author information is searched...
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