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We present a heterogeneous landmark-based visual navigation approach for a monocular mobile robot. We utilize heterogeneous visual features, such as points, line segments, lines, planes, and vanishing points, and their inner geometric constraints managed by a novel multilayer feature graph (MFG). Our method extends the local bundle adjustment-based visual simultaneous localization and mapping (SLAM)...
Segmentation and mapping of planar building facades (PBFs) can increase a robot's ability of scene understanding and localization in urban environments which are often quasi-rectilinear and GPS-challenged. PBFs are basic components of the quasi-rectilinear environment. We propose a passive vision-based PBF segmentation and mapping algorithm by combining both appearance and geometric constraints. We...
We present a high level landmark-based visual navigation approach for a monocular mobile robot. We utilize heterogeneous features, such as points, line segments, lines, planes, and vanishing points, and their inner geometric constraints as the integrated high level landmarks. This is managed through a multilayer feature graph (MFG). Our method extends local bundle adjustment (LBA)-based framework...
Buildings consume around 40% of overall energy in the world. Planar mirror detection problem (PMDP) arises when surveying reflective building surface for building energy retrofit. PMDP is also important for collision avoidance when robots navigate close to highly reflective glassy walls. Our approach uses two views from an on-board camera. First, we derive geometric constraints for corresponding real-virtual...
In this paper, we focus on 3D point cloud classification by assigning semantic labels to each point in the scene. We propose to use simplified Markov networks to model the contextual relations between points, where the node potentials are calculated from point-wise classification results using off-the-shelf classifiers, such as Random Forest and Support Vector Machines, and the edge potentials are...
To facilitate scene understanding and robot navigation in a modern urban area, we design a multilayer feature graph (MFG) based on two views from an on-board camera. The nodes of an MFG are features such as scale invariant feature transformation (SIFT) feature points, line segments, lines, and planes while edges of the MFG represent different geometric relationships such as adjacency, parallelism,...
We propose a simple contrast-based method for tree detection and shape estimation from ground-plane perspective images for purposes of counting, classification, modeling, or robotic obstacle avoidance. Under the assumption that tree trunks are relatively narrow and vertical shapes which strongly differ in appearance from the scene background and have boundaries of opposite contrast, we apply a bank...
In this paper, a novel scheme for electrocardiogram (ECG)denoising is presented based on ECG dynamic model and empirical mode decomposition (EMD). Firstly,we pre-filter the noisy ECG by making the model fit it in the MMSE sense, in order to preserve the important morphological features, especially the QRS complex. After that, the model is subtracted from the noisy ECG, and the residual signal is then...
Feature extraction of electrocardiogram (ECG) is the fundamental work of further automatic diagnosis. However, suffered from various kinds of noises with white, pink, and other colors, feature extraction is not a straightforward work but requires necessary signal processing techniques. In this paper, we propose an accurate and robust ECG feature extraction method based on mean shift algorithm which...
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