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SPL (Single Port Laparoscopy) might generate better surgical outcomes than multi-port laparoscopy. Hence it draws continuous attentions in the past several years. Due to its operative difficulties, several robotic systems were constructed to help surgeons with the surgical manipulation tasks. The SURS (SJTU Unfoldable Robotic System) for SPL is then proposed, aiming at introducing several improvements...
The ability to navigate in complex environments is crucial for both animals and mobile robots. Most mobile robots adopt dead reckoning for navigation because of its high efficiency and low cost. In order to use this navigation mechanism, both distance information and directional information must be available. In this research, a real-time three-channel camera-based polarization navigation sensor is...
A new robust lane marking detection algorithm for monocular vision is proposed. It is designed for the urban roads with disturbances and with the weak lane markings. The primary contribution of the paper is that it supplies a robust adaptive method of image segmentation, which employs jointly prior knowledge, statistical information and the special geometrical features of lane markings in the bird's-eye...
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...
In many human robot cooperation tasks, robotic agents are usually controlled by commands which are explicitly input by human. Although the explicit control method is straightforward and easy to implement, it will decrease the efficiency, fluency and adaptiveness of human robot cooperation. In this paper, we proposed an implicit control method that recognizes human intention and facilitates human robot...
This paper presents RIVERWATCH, an autonomous surface-aerial marsupial robotic team for riverine environmental monitoring. The robotic system is composed of an Autonomous Surface Vehicle (ASV) piggybacking a multirotor Unmanned Aerial Vehicle (UAV) with vertical takeoff and landing capabilities. The ASV provides the team with longrange transportation in all-weather conditions, whereas the UAV assures...
Recently, intelligent safety systems for automobiles, such as autonomous collision avoidance, have attracted considerable attention. Usually, automobiles have distance sensors to detect obstacles. On the other hand, animals and insects can behave adaptively, even in an unknown environment, even though they do not have such sensors. In ecological psychology, it is assumed that animals and insects use...
Recent advances in patch clamp system have demonstrated that a visual-based micromanipulation strategy can benefit to perform electrophysiological recording automatically. In this paper, the design and implementation of a micromanipulation system with the visual-based identification are reported. The system is able to manipulate a patch clamp pipette to the position of target cells automatically....
In neurosurgery, effects of deformation should be considered to avoid damaging brain tissues. The goal of this study is to develop an automatic path planner considering the deformation of brain tissues. This paper shows a scheme which combines FEM (Finite Element Method) and an optimization method for optimization of retraction in order to approach a deep part of a brain. Also, evaluations of two...
Robot localization is one of the hottest research spots. Many scholars have studied the landmark localization which is cheap, stable, and simple in the indoor environment. This paper presents a low-cost localization system based on the artificial landmarks with two degree of freedom platform camera. The landmarks are put on the ceiling in order to decrease the interference. A 2-DOF pan-tilt has been...
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...
The state-of-the-art person identification and verification technologies require apparent human biological features as inputs explicitly. In many special scenarios, however, it is impossible to obtain the apparent human biological features since such features usually require intrusive human interaction directly. In this paper, we have proposed a hierarchical skeleton feature model (HSFM) for person...
The vision system of the mobile robot is a low-level function that provides the required target information of the current environment for the upper vision tasks. The real-time performance and robustness of object segmentation in cluttered environments is still a serious problem in robot visions. In this paper, a new real-time indoor scene segmentation method based on RGB-D image, is presented and...
In this paper, a simple and robust method to recover ego-motion from a RGB-D camera is proposed. For our algorithm, no assumptions about the moving object or dynamic scenes are needed. Using the optical flow fields computed from the image sequence and depth information obtained from the RGB-D camera we estimate the ego-motion parameters. Our experiments have shown that using the intensity image and...
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...
This paper uses the somatosensory system of Kinect to realize the hand gesture recognition involving action and digit of finger. The hand action is completed by using the NiTE library owning the framework of hand gesture recognition. Taking advantage of the information of the depth map, the digit expressed by hand is recognized by using OpenCV library. The simulated results demonstrate the work is...
Dual-arm Underwater Vehicle-Manipulator Systems are able perform a variety of interventions tasks, and there are still many challenges related to making such vehicles autonomous. This paper presents a guidance method for generating reference trajectories for such a system by considering the main manipulator and the vehicle base as a leader unit and the secondary manipulator as a follower unit. The...
Map application has played a more and more important role in today's autonomous drive and navigation techniques. However, most of the existing maps can only reach road-level (meter scale) accuracy, which cannot meet the needs of driving with no hands. Based on this situation, a method to generate lane-level (centimeter scale) orthophoto maps is proposed. This method utilizes a multiple onboard cameras...
A novel robot arm called deformable arm for the service robot is presented in this paper. A flexible working space and the ability to deal with multiple tasks are obtained with a single arm by changing the arm shape. However more flexible use brings difficulties in actual use, the arm's parameters will be changed with the different arm structure and cannot be calibrated with conventional methods....
In this paper, we investigate two camera models for fisheye camera, namely, the pinhole camera model and spherical projection model. The former one has been successfully applied in calibration modeling of monocular vision system. However, for fisheye camera calibration modeling, we demonstrate that the spherical projection model is more appreciate for nonlinear image system. Moreover, to deal with...
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