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The paper introduces an active way to detect vegetation which is at front of the vehicle in order to give a better decision-making in navigation. Blowing devices are to be used for creating strong wind to effect vegetation. Motion compensation and motion detection techniques are applied to detect foreground objects which are presumably judged as vegetation. The approach enables a double-check process...
The work presented in this paper deals with the poor performance of depth image generation given by Tyzx stereo vision system under different lighting conditions in both indoor and outdoor environments. For that aim, we introduce a fitting plane algorithm to correct distance information as well as fulfill the missing points in the original depth. First, the color image is over-segmented into many...
SIFT features have become extremely popular in computer vision because of their reliable matching qualities under changing lighting conditions. In Robotics they are ubiquitious in self localisation and mapping (SLAM), object tracking and recognition. However, the length of the descriptor is a major obstacle for real-time applications and mobile platforms where the computation time and storage capacity...
One of the main challenges for autonomous navigation in cluttered outdoor environments is to determine which obstacles can be driven over and which need to be avoided. Especially in off-road driving, the aim is not only to recognize the lethal obstacles on the vehicle's way at all costs, but also to predict the scene category thereby giving a better decision-making framework for vehicle navigation...
Object recognition forms a ubiquitous problem in digital image processing. The detection of robust image features of high distinctiveness is one important key in this regard. We present a new hierarchical approach in object recognition targeting at high robustness, yet trying to fulfill hard real-time constraints. The former will be achieved using SIFT and SURF operators, while the latter is done...
In this paper an appearance based, compositional approach to the recognition of deformable objects is presented. First, a hierarchical object model is proposed. On different levels of abstraction the model represents object categories, different views of an object, the parts of an object and basic feature vectors. Then, a training method based on multiple clustering steps is described. This paper...
Even if outdoor robotics is gaining increasing interest, universal systems are rare to find up to now. One of them is the autonomous mobile outdoor robot (AMOR), which operates in rough terrain under arbitrary weather condition. This paper presents its software architecture and some performance figures. The whole system is designed by a modular and layered paradigm, to allow for easy reconfiguration...
The paper describes the software architecture of an autonomous mobile outdoor robot (AMOR). The robot is intended for robust operation in heavy terrain under arbitrary weather condition. The software is implemented in a layered architecture, possessing behaviour based and model based components. The multitude of different sensors is unified by a virtualisation layer, which allows easy reconfiguration...
The paper describes a method to compute the minimal-time trajectory for an autonomous vehicle driving at the force contact limit. It is proven that the optimal trajectory consists piecewise of logarithmic spirals and not of cothoids as is often thought. Simulation results are given for the interesting special case of a needle turn. These results are compared to normal polynomial interpolation.
3D environment reconstruction is a basic task, delivering the data for mapping, localization and navigation in mobile robotics. We present a new technique that combines a stereo-camera system with a PMD-camera. Both systems generate distance images of the environment but with different characteristics. It is shown that each system compensates effectively for the deficiencies of the other one. The...
In real world problems, where the objects are in general complex and deformed, the automatic generation of local characteristics is necessary in order to distinguish different object classes. This article presents an approach towards the automatic synthesis of significant local contour sections of closed, discrete, complex, and deformed 2D-object contours for the distinction of different classes.
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