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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...
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....
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...
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...
Learning the scene correlation of uncalibrated static cameras is in increasing demand for intelligent surveillance system, such as making a inference of topology, or allocating computation resources for video retrieval in multirobot system. However, many existing approaches learn the scene correlation among camera views by camera calibration or tracking targets across cameras. They seldom learn the...
With the availability of low-cost micro aerial vehicles (MAVs), unmanned aerial vehicles (UAVs) quickly gain popularity and application potential. This requires techniques that can be understood by non-experts and flexibly applied for rapid prototyping. Visual tracking is an essential task with many applications, such as autonomous navigation and scene acquisition. While marker-less methods emerge,...
This paper describes an extensible framework for real-time self-calibration of cameras in the simultaneous mapping and localization (SLAM) setting. The system is demonstrated to calibrate both pinhole and fish-eye camera models from unknown initial parameters while seamlessly solving the maximum likelihood online SLAM problem in real-time. Self-calibration is performed by tracking image features,...
A quality inspection system based on low cost machine vision is presented for online quality inspection of electroplated micrometer-scale diamond wire. Instead of using a costly high-speed camera to detect moving micrometer-scale diamond particles, we adopt a general speed microscopy camera with a mechanical motion compensation module to reduce the blur effects of relative high-speed moving particles...
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