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This paper presents a smooth path planning algorithm for a home service robot in presence of a known map and static obstacles. The algorithm proceeds in two steps. Firstly, the MAKLINK Graph based global path planner generates the shortest linear path which consists of several line segments. By introducing the 2D code landmarks into the global path planner, the path passes the landmarks as many as...
This paper proposes a real-time nonlinear filtering approach for the SLAM problem, termed as compressed Unscented Kalman filter (CUKF). A partial sampling strategy was recently proposed to make the computational complexity of the UKF quadratic with the state-vector dimension. However, the quadratic complexity remains intractable for the large-scale SLAM. To address this problem, we firstly prove the...
This paper proposes a global navigation strategy for autonomous vehicle combining sensor based control and digital maps information. In order to avoid localization problems in urban environments, this approach intends to solve the global navigation focusing on two local navigation tasks: road lane following and road intersection maneuvers. For that, it is important to use digital maps, once they provide...
In traffic video surveillance system, target-level tracking and feature-level tracking are two important areas for research. Therefore, the combination between them is an interesting question. Mean-shift is a traditional target-level tracking algorithm with no adaptation to vehicle scale and orientation change. In order to solve the problem, algorithm combine SURF (speed-up robust feature) feature...
Map application has played a more and more important role in today's autonomous drive and navigation techniques. However, most of the existing maps can only reach road-level (meter scale) accuracy, which cannot meet the needs of driving with no hands. Based on this situation, a method to generate lane-level (centimeter scale) orthophoto maps is proposed. This method utilizes a multiple onboard cameras...
A new robust lane marking detection algorithm for monocular vision is proposed. It is designed for the urban roads with disturbances and with the weak lane markings. The primary contribution of the paper is that it supplies a robust adaptive method of image segmentation, which employs jointly prior knowledge, statistical information and the special geometrical features of lane markings in the bird's-eye...
This paper presents a method for vision-based landing of a multirotor unmanned aerial vehicle (UAV) on an autonomous surface vehicle (ASV) equipped with a helipad. The method includes a mechanism for helipad behavioural search when outside the UAV's field of view, a learning saliency-based mechanism for visual tracking the helipad, and a cooperative strategy for the final vision-based landing phase...
Dual-arm Underwater Vehicle-Manipulator Systems are able perform a variety of interventions tasks, and there are still many challenges related to making such vehicles autonomous. This paper presents a guidance method for generating reference trajectories for such a system by considering the main manipulator and the vehicle base as a leader unit and the secondary manipulator as a follower unit. The...
This paper presents RIVERWATCH, an autonomous surface-aerial marsupial robotic team for riverine environmental monitoring. The robotic system is composed of an Autonomous Surface Vehicle (ASV) piggybacking a multirotor Unmanned Aerial Vehicle (UAV) with vertical takeoff and landing capabilities. The ASV provides the team with longrange transportation in all-weather conditions, whereas the UAV assures...
In this paper we discuss issues related to the design of clusterwheel inverted pendulum balancing machines, with a particular focus on the choice of the number of wheels in the cluster. This class of vehicles holds the promise of incorporating the inherent compliance of a two-wheeled balancing vehicle, the stability of a four-wheeled vehicle when desired, and the capability of legs to overcome obstacles...
As part of dead reckoning, inertial navigation has been developed for many years in locating the vehicle without GPS. We employ the technology on a quadrotor platform to track the trajectory of the vehicle. In this paper, a new method was designed to make the tracking result more precisely. To achieve this, we firstly smooth the sensor data by minus offset dynamically and adopt Kalman Filtering algorithm...
This paper presents a novel control architecture for kinematic control of the base and the arm of a vehicle-manipulator system during complex mobile manipulation tasks. Particularly, we address kinematic control of robots operating in the presence of constraints such as plane or entry hole constraints imposed on a point on the manipulator arm and an additional focal point constraint imposed on the...
This paper presents a novel real-time scale adaptive visual tracking framework and its use in smart traffic monitoring where the framework robustly detects and tracks vehicles from a stationary camera. Existing visual tracking methods often employ semi-supervised appearance models where a set of samples are continuously extracted around the object to train a discriminant classifier between the vehicle...
We have developed the robotic vehicle on water that moves by the rider's balance. Previously, due to the lack of stability of the vehicle, balancing skill was required for the rider. In general, the center of buoyancy of the floating body influences on the stability. Therefore, in this paper, the floating vehicle was modeled and the appropriate body shape and size that improves the stability was simulated...
In this paper, we present a mechanical design of a conceptual hybrid autonomous underwater vehicle (H-AUV) which combines the features of both a propelled underwater vehicle and those of an underwater glider. We develop its dynamic model and perform several simulations to showcase its locomotive capabilities. The main contribution of the paper is in the proposed motion planning technique to solve...
Magnetic guidance is a reliable navigation method for intelligence vehicles and AGVs. To get the right and accurate location of vehicle for control, an accurate magnet map is needed. This paper proposed a new approach to build a magnet map by graph-based SLAM. Vehicle's poses in the driving trajectory can be estimated by SLAM, for the magnetic sensor installed on the vehicle is detecting the relative...
In this paper, it discusses the state-of-art of the assistant safety driving technologies. It mainly includes the lane departure warning, ambient vehicle detection and vehicle safety distance keeping, pedestrian detection, driver behavior monitoring, vehicle motion control and communication. In the human-vehicle interaction, the large amount of information from all kinds of sensors should be well...
Driving assistance system has a significant influence on driving safety, and we introduce an integrated Forward Collision Warning(FCW) system based on monocular vision. In order to reduce the searching region of original image, lane making is presented to establish the ROI firstly. Secondly, hypotheses are extracted using Haar-like feature and Adaboost classifier. To remove false positive detection...
A real submersible flying boat which is both flight-capable and submersible has hardly been reported yet. In this paper, the Flying Fish created by Beihang University will be introduced to verify the feasibility of this kind of novel aircraft. The Flying Fish achieves its ability to transfer between the air and the water by imitating the flying fish and aquatic birds. The morphological characteristics...
We present a high performance embedding environment for developing vision based vehicle/ robot controlling. This particular environment is consisted of two main parts as recognition part and control part. Former can conducts vision based recognition targets such as obstacle detection while latter can controls the vehicle/robot in real time following the recognition information. The tests were conducted...
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