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The objective of this work is to investigate the spray characteristics of a fuel injection nozzle. The analysis is performed by means of a framework which exploits different image processing techniques to provide spray-related data to the operator. Innovative metrics are introduced to increase the accuracy and efficiency of the scheme. Experimental results show that it is possible to automatically...
The usage of sensory information for automation systems like autonomous robots is rising. For these applications the accuracy of the sensory data is of high importance. This is also valid for the task of transport by throwing where a thrown object has to be caught based on trajectory predicting using input data of a stereo camera system. Here the positioning accuracy of such a system is examined under...
Three algorithms for hand position tracking are presented. These algorithms work in real time, have low computational cost and only use the depth image obtained from a RGB-d camera, therefore they are light and skin color invariant. Despite the fact that there are libraries that perform hand position tracking using RGB-d cameras (Like Microsoft Kinect SDK, and PrimeSense's NITE), these libraries generally...
Compressive Sensing is an alternative to the acquisition and compression of sparse signals. One of the CS applications is the single pixel camera that reconsiders the conventional imaging systems. The key part of the camera is a Digital Micro-mirror Device (DMD), which is operated by a binary sensing matrix. The paper objective is to evaluate the CS performances in the case of three different binary...
One of the most important parameters in olive oil production is the correct reception and classification of olive fruits in batches before starting the oil extraction process. This work proposes an automatic inspection system based on computer vision to classify automatically different lots of olives for oil production when the milling process starts. The classification is based on the differentiation,...
Recycling of printed circuit boards (PCBs) is still subject to current research. For identifying valuable materials in electronical components on the PCBs the height profile of PCBs is a important feature. Laser triangulation with a perpendicular laser is a classical approach to generate height profiles. However, in such a setup it is not possible to acquire different modalities such as panorama images...
Image navigation systems and robotics are leading technologies to improve the accuracy of dental surgery. In this paper, stereo vision based navigation system is implemented to the three degrees of freedom implant surgery assistant robot. The aim of this research is to achieve cooperative guide system for teaching the information of “where to start cutting”. To achieve this aim, modulated potential...
This paper addresses a depth estimation problem for a robotic system with a single camera. For this problem, several depth observers have been proposed so far. Most of them are based on the Persistency-of-Excitation (PE) condition. But, the PE condition is not always satisfied during a visual servoing task. The estimation of the depth observer stops if the PE condition fails. In our previous work...
Bin picking has been a research topic for years because of the challenges in image processing, robot motion planning and tool system. However, much of the existing work is not applicable to most real world bin picking problems because they are too simplistic or not robust enough for industrial use. In this paper, we developed a robust random 3D bin picking system by integrating the vision system with...
The use of a reconfigurable platform, based on the Zynq-7000 Xilinx family, for hardware/software co-design of video processing applications is described in this work. The computing capability of ARM processors included in the device allows performing I/O and processing task by using conventional software libraries. On the other hand, the possibility to accelerate certain tasks through specific hardware...
Recently, augmented reality (AR) has been actively studied with the proliferation of advanced displays such as a head mounted display (HMD). Nevertheless, it was almost impossible for the conventional HMDs to process the complex AR algorithm in real time, because it requires highly accurate registration and positioning of virtual objects in the real environment. In this paper, we present the world's...
The use of renewable energy is growing significantly around the world. In front of the growing demand for electricity principally for the remote and isolated areas, photovoltaic systems, especially water pumping systems, begin to find great applications. Unfortunately, these systems have faced a number of problems even nowadays: a problem of maintenance and repair. Augmented Reality (short: AR) seems...
We present in this paper a decentralized multirobot (aerial and ground) cooperation scheme for objects transportation. A team of ground mobile robots guided by a drone and a human operator moves in a coordinated way keeping a predefined formation in order to carry objects (tools, gas masks,…) in unsafe industrial areas. One ground mobile robot (leader) navigates among obstacles thanks to the waypoints...
This paper proposes a 3D data capture system, based on the fusion of data coming from an active depth sensor and a inertial measurement unit (IMU), to determine the position of an aerial unmanned vehicle (UAV) in indoor environments, for control purposes. Firstly, the method adopted to detect the vehicle through using a sequence of RGB-D images. After that, the information provided by the active depth...
The objective of this paper is to present an effective visual calibration system for parallel robot. We propose a new hybrid algorithm to improve the weakness of traditional calibration system. The method is auto-calibrated, non-parametric, and has ability of adaptive learning for different environments. The proposed algorithm considers the accuracy of entire workspace, to ensure that every point...
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