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This paper aims at giving an overview on the state of the art of vision-based, non-contact 3D measurement systems based on structured light. Such systems are equipped with a camera and a light projector, and are referred to in the literature as active stereo systems. This report is structured into structured light, calibration methods and 3D measurement techniques. Moreover, several selected research...
A practical omnidirectional camera consisting of one spherical mirror, a mirror supporting structure and a mega pixel digital imaging system has been developed. The camera can view a field of 360 degrees horizontally and 135 degrees vertically. We have analyzed the image forming and depth of field characteristics of the spherical mirror and, for comparison, a hyperboloidal mirror. Advantages of the...
Optical flow techniques using grayscale image sequences are known to provide powerful solutions for motion estimation and shape reconstruction applications. In this paper, recent advances in optical flow computation from color image sequences are compared and refined to provide alternative optical flow computation techniques for biomimetic vision and control systems. Experimentation is performed in...
A novel modelling of active environment perception is proposed in this paper. This approach is based on a specific formalization of active perception, expressed in terms of interactions between environment and sensors. In our work, a synchronization property of active perception is identified, and exploited in theoretical characterization of this problem. The regulation of nondeterministic behavior,...
A novel characterization of space-sharing problem of sensor-networks is proposed in this paper. The idea that has generated this method is based on the consideration that the interactions between sensors and multiple characterizations of environment can be suitably exploited in modelling and regulation of this aspect. Our approach is based on a functional relation between mobile components (sensors)...
This paper discusses a multi-agent system whose global goal is the minimization of entropy of an environment, based on a novel tree in-motion mapping method
The use of vision-based sensors for applications in various fields ranging from robot navigation to visual inspection in industrial environments has largely increased during the last decades. The contribution of this paper is in the design and the realisation of the prototype of an intelligent vision sensor to be used for robot-sensing and industrial applications. The proposed sensor is based on a...
This paper presents a novel method for the segmentation of probabilistic two-dimensional occupancy maps, based on the analysis of their texture characteristics. The texture is represented by means of a double distribution of "local binary pattern" and "contrast". The logarithmic likelihood ratio, G-statistic, is used to measure the degree of similarity between different regions;...
A novel computational paradigm based on the composition of interactions, and Karhunen-Loeve transform is proposed in this paper. This paradigm has been developed with the purpose of achieving a suitable representation in the modelling, and the design of sensor-fusion. The effectiveness of this approach is guaranteed by the composition of these two representations, which enables the regulation of nondeterministic...
Current mobile robot motion accuracy has not been yet achieved to full satisfaction. This paper presents a novel technique of dual feedback & feedforward synchronized cross-coupled motion control (DFFSCCC) for two-wheel mobile robot to achieve higher accuracy. previous cross-coupled motion control techniques are based on the consideration of only internal disturbances. The technique presented...
In this paper, we present a process algebra that enables the achievement of a suitable modelling, and an effective regulation, of sensor-controlled operations. The utilization of specific methods, and formal structures of computer science, is principally motivated by their abstraction capabilities that guarantee an effective use in several applications. Secondly, their rigorous theoretical formulations,...
This paper presents a hybrid wavelet thresholding approach for reducing white Gaussian noise in mechanical fault signals to offset the deficiencies of hard and soft thresholding. We observed that it is not appropriate to use the mean squared error (MSE) as the only criterion in the evaluation of the de-noising results of mechanical signals. As such, we proposed a combined criterion incorporating both...
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