The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Visual tracking, when regarded as a classification problem, usually need sufficient amount of data for online learning. Current approaches usually employ multiple binary labeled samples to train or update the appearance model at each frame. However, most positive samples collected by perturbation of the target location are equally treated as the estimated target when used for updating. The exact target...
Current legged robots are brittle and fragile when performing a wide range of locomotion tasks. This can be the case during the execution of dynamic locomotion trajectories such as jumping or hopping where impact forces can significantly increase and reach levels of an order of magnitude higher than the gravitational/weight forces of the robot. Legged robots like humanoids with rigid and heavy feet...
In this paper, we present a new image preprocessing method which is based on Wavelet Transform. Before we extract expression texture information, Wavelet transform will be applied to remove partial high frequency information. And then Gabor Transform will be used to extract expression information. At last we chose the Support Vector Machine to classify facial expressions. Experiments on the Japanese...
Recently, many researchers have been studying methods for the stepless slip motion of humanoid robots. However, the control mechanism is not clear. In this paper, we propose a simple feedback control method for slip motion based on the forward and backward tilting of the body. We verified this control method by using a life-size humanoid dynamic simulator that was constructed with Open Dynamics Engine...
Map fusion is an essential and challenging issue in multi-robot simultaneous localization and mapping (SLAM), especially for 3D SLAM applications. In this paper, we propose an efficient pose-graph based approach to fuse several 3D maps built by distributed mobile robotic system. Several robots, each equipped with a Kinect sensor, cooperate to map the operated environment; each of them just scans a...
Flying robots have many applications in constrained environments. But they are facing difficulties when they cannot take off again without human intervention if they are not in upright position after a fall. This paper presents a method to design a self-recovery mechanism for the quadrotor to protect itself and recover autonomously after accidental falls. The presented quadrotor with a self-recovery...
This paper presents a new real-time localization method for indoor service robots based on camera and laser. First of all, it is proved that planar motion of an upward camera in the floor plane can be solved by only two matching points with equal depth. Then, a real-time indoor localization method is proposed accordingly using an upward fisheye camera mounted on the robot and two fixed laser pointers...
This paper concentrates on the gait transition of a quadruped robot. Animals move with different gaits to adapt to the change of terrains or just to save energy. A biomimetic robot should achieve this process in a smooth, continuous and energy efficient way. We propose a gait transition controller that can achieve needed phase difference between every two legs based on the Hopf oscillator. The quadruped...
Unmanned Aerial Vehicles (UAVs) play vital role in a number of application domains including search and rescue, traffic monitoring, border control, to name a few. A robust computer vision system for detecting and tracking moving targets is essential to enable UAVs operate autonomously against challenges such as occlusions and abrupt camera motion. This paper presents a robust system that can handle...
Most existing methods for abnormal event detection in the literature are relied on a training phase. Different from conventional approaches for abnormal event detection, a saliency attention based abnormal event detection approach is proposed in this paper. It is inspired by the visual attention mechanism that abnormal events are those which attract attention mostly in videos. The temporal and spatial...
This paper uses the somatosensory system of Kinect to realize the hand gesture recognition involving action and digit of finger. The hand action is completed by using the NiTE library owning the framework of hand gesture recognition. Taking advantage of the information of the depth map, the digit expressed by hand is recognized by using OpenCV library. The simulated results demonstrate the work is...
Real-time performance can be greatly improved, if the early recognition is implemented. In this paper, a dynamic hand gesture early recognition system is proposed. The system can recognize the gesture before it is completed. Our method is based on the Hidden Semi-Markov Models. Three-dimensional information of the gesture trajectory collected by leapmotion is the main data we used. Experiments on...
Through-silicon via (TSV) is a promising technology for the three dimensional (3D) IC packaging industry. Well-managed TSV alleviate routing congestion, enhancing performance of 3D ICs. The logic cells stacked through TSV are analogous to the vertices to be traversed exactly once in a graph. However, traditional Hamilton loop method is a NP-hard (non-deterministic polynomial) problem. This paper proposes...
Developing soft fish robots by biomimetic approach is a useful way to achieve high efficiency, high performance and fish-like motions. Comparing to the conventional rigid fish robots, the design and control of soft fish robots are difficult, because the coupling between the flexible structure and fluid should be considered. But the coupling problem is very difficult to be solved due to large deformation...
To perform search and rescue missions in multi-terrains after natural disasters, the amphibious robot we designed is equipped with four eccentric paddle modules. The module is based on the epicyclic gear mechanism, and by changing the paddle shaft's location we can achieve various gaits adapting amphibious environment. Regarding experimental results with the first generation prototype, named ePaddle-EGM,...
Snake-like robots are developed for searching and rescuing applications. The digital cameras are commonly installed on the head of the snake-like robots which are used to provide a visual feedback for the operators. However, the swing motion of the head has great impacts on the visual feedback when the snake-like robots perform lateral undulating locomotion. To solve this problem, a control method...
This paper presents a novel image haze removal approach from single image. In the algorithm, the constant albedo and dark channel prior methods are combined to represent the transmission model of hazed image. And then, the quick shift segmentation approach is introduced to decompose the input image into some gray level consistent areas. Compared with traditional fixed image partition schemes, better...
Driver assistance is one of the major tasks on smart wheelchair development. However, human following is also necessary in real application. In this paper, a control system of driver assistance and human following for smart wheelchair is presented. Driver assistance can keep the wheelchair from stairs falling and obstacle collision when the user is driving the wheelchair in complex environments with...
In recent years, a rehabilitation method in which a quadriplegic person can perform training without a therapist has been proposed, and studies that use functional electrical stimulation (FES) have been promoted. However, FES induces muscle contractions that tend to be stronger than voluntary contractions, and hence increases the muscle load too easily. Accordingly, the resultant excessive contractions...
Considering the network restrictions such as multiple time-varying delays, Markov random switching topology, average-consensus sufficient conditions for the multi-agent network systems with time-delay are proposed. Firstly, by using the idea of state decomposition, consensus problem is converted into analysis system stability. And then, by using orthogonal transformation techniques, the original system...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.