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Places in an environment are locations where activities occur, and can be described by the objects they contain. This paper discusses the completely automated integration of object detection and global image properties for place classification. We first determine object counts in various place types based on Label Me images, which contain annotations of places and segmented objects. We then train...
For many sensing applications Unmanned Aerial Vehicles (UAVs) can provide a lightweight and highly portable solution. Inevitably they may encounter malfunctions, the most serious of which may require the UAV to land as soon as possible. From a safety prospective it is insufficient to assume the UAV can safely reach a previously determined safe landing site. It is therefore desirable to utilize a reliable...
In this paper we present an algorithm for path planning in a fixed range-only beacon field. We define and calculate entropy values for regions of interest and provide a method for finding "safe," low-entropy paths between regions. We go on to describe a robotic system for performing range-based localization experiments, developed using inexpensive off-the-shelf components. Our system uses...
Algorithmic problem reduction is a fundamental approach to problem solving in many fields, including robotics. To solve a problem using this scheme, we must reduce the problem into another one for which solutions exist. The reduction function, which infers a conformation between the problem and the solution space, plays an important role in solution evaluation and is sometimes used to transform the...
To use hockey broadcast videos for automatic game analysis, we need to compensate for camera viewpoint and motion. This can be done by using features on the rink to estimate the homography between the observed rink and a geometric model of the rink, as specified in the appropriate rule book (top down view of the rink). However, player occlusion, wide range of camera motion, and frames with few reliable...
We describe the design and implementation of a fiducial marker system that encodes data in the frequency spectrum of a synthetic image. This distinctive approach to marker synthesis and data encoding allows for partial data extraction in adverse imaging conditions, and can significantly extend the detection range through graceful data degradation. Additional digital encoding and image construction...
Wind tunnel Pressure Sensitive Paint (PSP) ratio techniques require accurate registration between wind-on and wind-off camera image pairs. The Piecewise Linear Resection (PLR) method of removing registration due to physical wind tunnel model motion and deformation errors can account for nonlinear deformations and benefits from increased tracking point coverage in the image. This work presents a method...
This paper examines the complex problem of robotic interaction with moving panels exhibiting few distinctive visual features, in the context of marking surface deformation defects for quality control in the automotive industry. In order to integrate a defects detection station and a robotic tracking and marking system within a unified framework, an original inter-calibration technique is developed,...
Asymmetry in training sets of humans and non-humans and high dimensionality of existing features are problems plaguing human detection. As classification of humans tends to be one class versus all other classes, existing classification methods do not consider this asymmetry in the training sets which leads to sub optimal classifier performance. Furthermore, the high dimensionality of existing features...
Particle Filter (PF) is a flexible and powerful Sequential Monte Carlo (SMC) technique to solve the nonlinear state/parameter estimation problems. The generic PF suffers due to degeneracy or sample impoverishment, which adversely affects its performance. In order to overcome this issue of the generic PF, a Particle Swarm Optimization accelerated Immune Particle Filter (PSO-acc-IPF) is proposed in...
We consider the problem of exploring an unknown environment with a pair of mobile robots. The goal is to make the robots meet (or rendezvous) in minimum time such that there is a maximum speed gain of the exploration task. The key challenge in achieving this goal is to rendezvous with the least possible dependency on communication. This single constraint involves several sub-problems: finding unique...
Using Visual Odometry a robot can track its trajectory using video input. This allows more accurate ego-motion estimation when compared to classical odometry which relies on measurement of wheel motion. The Microsoft Kinect sensor provides 3D imagery, similar to a LASER or LIDAR scanner, which can be used for visual odometry with a single sensor. This diers from usual implementations that require...
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