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Presents the front cover or splash screen of the 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) proceedings.
This paper describes a robust approach which improves the precision of vehicle localization in complex urban environments by fusing data from GPS, gyroscope and velocity sensors. In this method, we apply Kalman filter to estimate the position of the vehicle. Compared with other fusion based localization approaches, we process the data in a public coordinate system, called Earth Centred Earth Fixed...
Localization of multiple active speakers in natural environments with only two microphones is a challenging problem. Reverberation degrades performance of speaker localization based exclusively on directional cues. The audio modality alone has problems with localization accuracy while the video modality alone has problems with false speaker activity detections. This paper presents an approach based...
Conference proceedings front matter may contain various advertisements, welcome messages, committee or program information, and other miscellaneous conference information. This may in some cases also include the cover art, table of contents, copyright statements, title-page or half title-pages, blank pages, venue maps or other general information relating to the conference that was part of the original...
Presents the table of contents of the proceedings of the 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI).
Multi sensor fusion has been widely used in recognition problems. Most existing works highly depend on the calibration between different sensors, but less on modeling and reasoning of the co-incidence of multiple hints. In this paper, we propose a generic framework for recognition and clustering problem using a non-parametric Dirichlet hierarchical model, named DP-Fusion. It enables online labeling,...
An RGB-D camera is a sensor which outputs the distances to objects in a scene in addition to their RGB color. Recent technological advances in this area have introduced affordable devices in the robotics community. In this paper, we present a real-time feature extraction and pose estimation technique using the data from a single RGB-D camera. First, a set of edge features are computed from the depth...
Cloud Robotics is currently driving interest in both academia and industry. It allows different types of robots to share information and develop new skills even without specific sensors. They can also perform intensive tasks by combining multiple robots with a cooperative manner. Multi-sensor data retrieval is one of the fundamental tasks for resource sharing demanded by Cloud Robotic system. However,...
For energy saving and security in building, the information of occupant number of each zone is very important. This paper works on the estimation of the occupant number of zones in building by detecting the entrance and leaving events. In this paper, we first formulate the problem under an assumption of Markov Chain, and basing on the theoretical analysis of the model, we propose a method of occupant...
For over a decade avoiding runway incursions (RI), events where two or more vehicles create a conflicting situation by using the same runway, have been a top ten priority of the National Transportation Safety Board (NTSB). Only the recent technological response in form of area wide deployment of Runway Incursion Prevention and Alerting Systems (RIPAS) improved the situation in the USA and safety seems...
This paper focuses on fast 3D point cloud registration in cluttered urban environments. There are three main steps in the pipeline: Firstly a fast region growing planar segmentation algorithm is employed to extract the planar surfaces. Then the area of each planar patch is calculated using the image-like structure of organized point cloud. In the last step, the registration is defined as a correlation...
A novel approach to estimate localizability for mobile robots is presented based on probabilistic grid map (PGM). Firstly, a static localizability matrix is proposed for off-line estimation over the priori PGM. Then a dynamic localizability matrix is proposed to deal with unexpected dynamic changes. These matrices describe both localizability index and localizability direction quantitatively. The...
Learning from sensor data is important in many robotic research areas, such as dexterous robotic hand grasping. In this paper, a piecewise linear dynamic model is proposed for analyzing robotic hand grasp. The combination of linear dynamic model and the switched systems can achieve better results in grasp learning due to its advantage of modeling multi-phase grasping process. To the best knowledge...
As the competitive networked robot system has the characteristics of strong interaction and high real-time request, the present control methods which are mostly used for the collaborative networked robot system may not be directly applied to the competitive one. Thus the hierarchical control architecture for the competitive networked robot system is proposed in this paper in order to adapt to its...
Robot grasping and manipulation require very accurate knowledge of the object's location within the robotic hand. By itself, a vision system cannot provide very precise and robust pose tracking due to occlusions or hardware limitations. This paper presents a method to estimate a grasped object's 6D pose by fusing sensor data from vision, tactile sensors and joint encoders. Given an initial pose acquired...
In this paper we propose a hand gesture recognition system that relies on color and depth images, and on a small pose sensor on the human palm. Monocular and stereo vision systems have been used for human pose and gesture recognition, but with limited scope due to limitations on texture, illumination, etc. New RGB-Depth sensors, that reply on projected light such as the Microsoft Kinect, have overcome...
This work documents our progress on building an unmanned aerial vehicle capable of autonomously mapping urban environments. This includes localization and tracking of the vehicle's pose, fusion of sensor-data from onboard GNSS receivers, IMUs, laserscanners and cameras as well as realtime path-planning and collision-avoidance. Currently, we focus on a physics-based approach to computing waypoints,...
Autonomous Underwater Vehicles (AUVs) present an enormous application potential, and the real time accurate position and attitude information is important for AUVs. In order to obtain comprehensive and accurate position and attitude data of AUVs, focusing on the common low cost sensors configuration, the data fusion problem of SINS/USBL/AHRS combination is presented and studied in this paper. Firstly,...
This paper gives an insight in the preliminary results of an ongoing work about heterogeneous point feature estimation acquired from different type of sensors including structured light camera, stereo camera and a custom 3D laser range finder. The main goal of the paper is to compare the performance of the different type of local descriptors for indoor office environment. Several type of 3D features...
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