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In this paper, we present an approach to simultaneous localization and mapping (SLAM) for RGB-D cameras like the Microsoft Kinectv2 that is capable of reconstructing volumetric 3D map without the aid of a graphics processing unit (GPU). For many robots, including flying robots and ground mobile robots, most of them build 3D maps, such as sparse or dense point cloud. However, these maps can not give...
To solve the problem of occlusion for robot grasping, a novel method is proposed, by which the robot can grasp an occluded target object accurately. In this paper, the principles of binocular vision, camera calibration, stereo rectification and stereo matching are described. By utilizing the stereo-vision algorithm, robots can obtain the three-dimensional information of objects. For accurate grasping,...
By position estimation of the binocular vision, a robot can accurately obtain the three-dimensional information of an object. The algorithms about camera calibration and stereo match are described in this paper in detail. Not only that, two kinds of camera calibration methods are compared and analyzed in this paper. The method for robot grasping is proved to be effective from experiments. Research...
In many societies, the aged people are often living alone. For the aging population, surveillance in household environments has become more and more important. In this paper, we present a household surveillance robot that can detect abnormal events by utilizing video and audio information. In our approach, moving targets can be detected by the robot with a passive acoustic location device. Then the...
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