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Recently, human-friendly support systems for product design have been developed as demands of individual user to products become diversified. In the previous works, interactive evolutionary computation has been applied to support product designs. An advantage of interactive evolutionary computation is that it can perform the optimization based on human preference and feeling in addition to the evaluation...
This paper deals with environment reconstruction in informationally structured space used for pocket robot partners. The environmental information is measured through the sensor network, and is stored in the remote host computer. The pocket robot partner accesses the environment information through wireless LAN, and receives a 3D model of the environment including people and other robots. Therefore,...
In this paper, the new path planning algorithm for vertical take-off and landing (VTOL) type unmanned aerial vehicles (UAVs), which is widely used in various practical applications, is introduced. The essence of the algorithm comes from the existing limit cycle navigation method for works in 2D and 3D, respectively. In addition, the ray tracing method is applied in order to enhance the work in 3D...
In this paper, we apply the collinearity constraint for accurate camera calibration and correction. The novel method consists of two steps: the first is to estimate the relative parameters of interest with closed form solutions. The second employs the well known Levernburg-Marquardt (LM) algorithm for the global optimization of all the parameters of interest: 4 intrinsic, 7 extrinsic and 4 distortion...
This study tackles the production of 3D realistic map databases for outdoor environments. An approach based on the fusion of heterogeneous 3D representations was studied. We propose a variant of ICP (Iterative Closest Point) based on an adaptive dynamic threshold and a RANSAC removing outliers process. An application of our approach was tested on two scenarios: a registration of point clouds obtained...
As the beginning of the 3D soccer simulation competitions the simulated humanoid robots were used to play soccer in simulated games, this event shifted the aim of the soccer simulation from the design of strategic behaviors into the low level skills like walking and kicking in soccer player itself at first, but by the improvement of these skills new challenge of how to play soccer has been engendered,...
In this work we refine an initial grasping behavior based on 3D edge information by learning. Based on a set of autonomously generated evaluated grasps and relations between the semi-global 3D edges, a prediction function is learned that computes a likelihood for the success of a grasp using either an offline or an online learning scheme. Both methods are implemented using a hybrid artificial neural...
Online coordination of visual information with slow speed manipulator control is studied in the specific task of three dimensional robotic catching using position based visual servoing. The problem involves the design and application of a recursive algorithm to extract and predict the position of an object in a 3D environment from one feature correspondence from a monocular image sequence. The measured...
A cell occupancy map has been used widely for efficiently representing obstacles in robotic navigation. Such a map can often be formed based on the multi-resolution octree representation (MOR) of 3D point clouds captured from objects and workspace. This elevated cell-based approach may offer the capability of understanding the geometric context of workspace, expanding its applicability to robotic...
This paper describes range image registration to fuse three-dimensional surfaces of range images taken from around an object. By means of using the competitive associative net called CAN2 for plane extraction, we constructed two methods: one is for the case where the planes of the floor and the wall are available, and the other is for the case where the available planes are on the floor and the object...
Navigating cluttered indoor environments is a difficult problem in indoor service robotics. The Acroboter concept, a novel approach to indoor locomotion, represents unique opportunity to avoid obstacles in indoor environments by navigating the ceiling plane. This mode of locomotion requires the ability to accurately detect obstacles, and plan 3D trajectories through the environment. This paper presents...
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