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In this paper, the main objective is to design a gain controller for a robot arm based on reinforcement learning methods. The controller is applied in image base visual servoing. The image feature error is used to form the state space. When the robot perceives a state by using a camera, the controller based on Q-Learning will output a control gain to the robot arm. Because Q-Learning does not have...
Ultraviolet (UV) radiation has a great impact on human health. Nowadays, the public basically gets information about UV radiation through weather forecasts, which can only provide rough and average prediction for a certain large area. Since CMOS sensors in smartphone cameras are very sensitive to UV radiation, smartphones have potential to be the ideal equipment to measure it. At the same time, result...
In the paper, a near-infrared-ray (NIR) and side-view video based low-complexity drowsy driver detection system is developed for day and night applications. The proposed system detects drowsy conditions effectively whether or not glasses. To reduce the redundant computations, the pre-defined ROI (region of interest) is used at the procedures of face, glasses bridge, eyes, and nose feature detections...
Advances in video technology have enabled its wide adoption in the auto industry. Today, many vehicles are equipped with backup, front-looking, and side-looking cameras that allow the driver to easily monitor traffic around the vehicle for enhancing safety. One difficulty with performing automated image analysis using a vehicle's onboard video has to do with the significant lens distortion of these...
Ultraviolet (UV) radiation has a great impact on human health. Nowadays, the public basically gets information about UV radiance through weather forecasts. However, weather forecasts just provide rough and average predication for a certain large region. Since CMOS sensors in mobile phone cameras are very sensitive to UV, mobile phones have potential to be ideal equipment to measure UV radiance. This...
The main objective is to design a proportional controller of a robot manipulator using the fuzzy cerebellar model articulation controller based on Takagi -- Sugeno (T -- S) framework with a compensator. The controller and compensator apply in visual servoing, including system identification of image and kinematic Jacobians. The proposed approach is basically as a function of the visual error and extent...
This paper proposes a monocular vision-based obstacle detection algorithm for parking assistance applications of advance safety vehicle by a rear camera. In order to efficiently detect various moving and stationary obstacles behind the vehicle, the feature of corner into the rear obstacles is firstly estimated by the Features from Accelerated Segment Test (FAST) corner detection methods. Then, the...
This paper proposes a rear vision camera-based vehicle detection system which could detect if any rear vehicle exists in ego lane and if any vehicles in adjacent lanes are overtaking. The source image is firstly applied with distortion calibration which helps the following Hough transform to detect the existence of lane lines. The rear vehicle in ego lane is detected by a combination of feature-based...
About human capability, running is not faster than leopards, force is not stronger than elephants, and son on. But compared with total capability, human is the best in the world. Therefore, HuroCup league in FIRA (Federation International Robotics Association) aims at design of humanoid robot for a full capability like human. Until FIRA2010 in Korea, HuroCup organizes eight events including Sprint,...
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