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Quick and accurate understanding of the ambient environment is critical in the development of the intelligent vehicle. As the most important element consisting the ambient environment, road curb detecting is a fundamental and vital work for the development of intelligent vehicle. In this paper, a framework was presented to detect the road quickly and robustly using the velodyne lidar, which provides...
Computer assisted surgery requires a registration process that identifies the position of the patient within the operating room. A common approach is to attach reflective markers to the patient which are illuminated and detected by a stereo camera. In order to reduce the logistic effort of operation planning, it is desirable to perform an automatically marker-less registration. In order to implement...
With the rapid development of computer vision, the Internet and robot technology, it's potential to develop a telepresence robot for providing service for people who need a real avatar. We present a real-time vision-based telepresence robot hand control system, including the hand detection, hand tracking, hand recognition, 3D hand position and hand control modules. From our experiments, the composition...
The middle ear is a sophisticated mechanism which transmits sound waves from the outer ear to the inner ear, while it amplifies and filters the sound waves depending on their frequency. However, the sound path can be broken due to traumas, infections, ossification or alteration. In this case, the surgeons reconstruct the sound path with an implant, mostly with passive titanium prostheses. Developers...
Obstacle avoidance is a key problem required in the mobile robot navigation technology. In this paper, we build up a 3D environment in an intelligent surveillance robot through registration of point clouds and present a method to deal with the obstacle avoidance problem. Firstly, the framework of the intelligent robot is given. Then we register the point clouds from an RGB-D Kinect by applying an...
Object registration between virtual model and real object in image sequences is a challenging task. With partial reconstruction of the real object from binocular images, we approach the problem in a 3D-3D way. The system we developed includes three major components: reconstruction, 3D-3D object registration and visual augmentation from object models. For reconstruction, a perspective stereo-motion...
Previous research [1] has shown that, in a nonstereo viewing condition, a circular trajectory collision event (i.e. a collision between a moving object and an observer) is specified by expansion of an object and a constant rate-of-bearing (angular direction or position in the flow field) change. In the present study, we examined the optical information for detecting an imminent collision event in...
In this paper, we describe a portable Omnidirectional Vision System for Environment Perception (OVSEP) with 5 Degrees of Freedom (DOFs). OVSEP has a modular design and it is equipped with three main components: hardware, control architecture and visual processing part (omnidirectional vision and stereovision). A face detection algorithm and a method for 3D reconstruction have been used to evaluate...
In this paper, we present a mechanical design of a conceptual hybrid autonomous underwater vehicle (H-AUV) which combines the features of both a propelled underwater vehicle and those of an underwater glider. We develop its dynamic model and perform several simulations to showcase its locomotive capabilities. The main contribution of the paper is in the proposed motion planning technique to solve...
This paper presents a novel rehabilitation assistive device called a “parallel link type human ankle rehabilitation assistive device (PHARAD).” It can accurately measure foot motions in six degrees of freedom and reproduce the ankle joint motions. By reproducing the input motions of the ankle joint, PHARAD conducts passive exercises for ankle rehabilitation. To measure and reproduce complex foot motions,...
In order to provide robots for a wide range of users, they must be easily programmable. This is addressed by various approaches of programming a robot by demonstration, where the user guides a robot through the task. We propose an approach that adapts a once demonstrated trajectory to a new situation. The system extracts the relevant reference frames using a weighting function. Then, the demonstrated...
Uneven terrain walking is one of the important premises for biped robots to serve people. However, it is one of the key challenges for biped robots walking on a slope. In this paper, a universal method to generate patterns for biped robot walking on a three-dimensional (3D) slope is proposed. Different from most researches, which only focused on the specific walking directions on a slope as across...
Fire extinguishment approaches with inert gases such as carbon dioxide (CO2) and nitrogen (N2) have several advantages compared with ones with water. On the other hand, they have low extinguishment performance and put lives at risk. To enhance the extinguishment performance and to reduce risk to life, the authors have proposed a robotic fire extinguishment approach and a prototype of an aerial extinguisher...
In this paper, we propose a novel localization method for indoor-wheeled robots. The system consists of fusing scene and range data to make more robust the 3D-to-3D egomotion estimation, which is typically done via ICP. To validate our approach and assess its performance, a system comprised of a laser range finder paired with a monocular camera is implemented and several experiments are performed...
Localisation and mapping are fundamental capabilities for autonomous mobile robots, and there has been a large amount of recent work in these fields. However, much of the work does not consider dynamic environments that include humans and moving objects. Such objects can cause occlusions resulting in a fewer visible landmarks, which can decrease localisation performance. This paper describes a novel...
A means for fast and accurate indoor localization using point-cloud data is presented. A sparse environment model is proposed, comprised of a list of planar patches. It is shown that, with this simplified model, incoming point-cloud data can be associated rapidly with one (or none) of the constituent planes, and the environment model can be fit to the clustered sample points algebraically in a least-squares...
This paper presents synthetic checking controller for robot manipulator with flexible joints, dynamics of executive motors and affect of disturbance based on radial basic function (RBF) neural network. A control algorithm is synthesized basing on the combination of backsteppping and RBF neural network in order to approximate the unknown functions. Finally, simulation results of a manipulator robot...
A hybrid operating system running on a dual-core processor is introduced, and it incorporates the advantages of both real-time system and non-real-time system by establishing a mechanism of routing and communication method. After testing on a modular dual-arm manipulator, it has been proved that the system is robust and feasible. Firstly, by performing the kinematics analysis on a 3D demonstration...
This paper presents an evaluation of an algorithm that optimises the infills of the geometries that contain at least one pointed end. Computation of the infills, as a part of path planning, falls within the slicing procedure, which in turn is a standard process step in creating a 3D part via rapid prototyping techniques. The computation of the infill trajectories were conducted according to its final...
Map fusion is an essential and challenging issue in multi-robot simultaneous localization and mapping (SLAM), especially for 3D SLAM applications. In this paper, we propose an efficient pose-graph based approach to fuse several 3D maps built by distributed mobile robotic system. Several robots, each equipped with a Kinect sensor, cooperate to map the operated environment; each of them just scans a...
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