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In object tracking field, occlusion situations between objects are important factors that degrade the performance of tracking algorithms. In this paper, we present a track management method in the tracking level to solve the discontinuous tracking problem caused by occlusions between detected objects. This work is performed by predicting the occlusion situation between detected objects and managing...
Lane estimation plays a central role for Driver Assistance Systems, therefore many approaches have been proposed to measure its performance. However, no commonly agreed metric exists. In this work, we first present a detailed survey of the current measures. Most of them apply pixel-level benchmarks on camera images and require a time-consuming and fault-prone labeling process. Moreover, these metrics...
This paper focuses on target motion analysis by fusion of information from two moving acoustic sensors. These two sensors may obtain small measurements in order to make quick analysis of moving targets. In this situation, conventional approaches often fail to find accurate motion of targets. In this paper, a fusion algorithm for target motion analysis designed to handle this situation is proposed...
The centralized Kalman filter can be implemented in such a way that the required calculations can be distributed over multiple nodes in a network, each of which processes only the locally acquired sensor data. The main downside of this implementation is that it requires each distributed sensor node to communicate with the fusion center in every time step so as to compute the optimal state estimate...
Many applications demand proper design and implementation of 0-1 binary compressive sensing (CS) measurement matrices. This paper presents a construction method for such binary CS measurement matrices by training a convolutional neural network (CNN) with 0-1 weights. The desired CS performance of resultant binary measurement matrices can be achieved by designing a proper CNN training procedure. For...
Quadrotor unmanned aerial vehicles (UAVs) have seen a surge of use in various applications due to its structural simplicity and high maneuverability. However, conventional control methods using joysticks prohibit novices from getting used to maneuvering quadrotors in short time. In this paper, we suggest the use of a wearable device, such as a smart watch, as a new remote-controller for a quadrotor...
In this paper, we represent a terrain inference method based on vibration features. Autonomous navigation in unstructured environments is a challenging problem. Especially, the detailed interpretation of terrain in unstructured environments is necessary to set an efficient navigation trajectory. As the vibration features are obtained from interactions between the robot and terrain, terrain inference...
Human action recognition has been studied in many fields including computer vision and sensor networks using inertial sensors. However, there are limitations such as spatial constraints, occlusions in images, sensor unreliability, and the inconvenience of users. In order to solve these problems we suggest a sensor fusion method for human action recognition exploiting RGB images from a single fixed...
Noise and variability in accelerometer data collected using smart devices obscure accurate human activity recognition. In order to tackle the degradation of the triaxial accelerometer data caused by noise and individual user differences, we propose a statistical noise reduction method using total variation minimization to attenuate the noise mixed in the magnitude feature vector generated from triaxial...
In this article, we propose a data analytics development to detect unusual patterns of flights from a vast amounts of FDR (flight data recorder) data for supporting airline maintenance operations. A fundamental rationale behind this development is that if there are potential issues on mechanical parts of an aircraft during a flight, evidences for these issues are most likely included in the FDR data...
The eye structure of insects, which is called a compound eye, has interesting advantages. It has a large field of view, low aberrations, compact size, short image processing time, and an infinite depth of field. If we can design a compound eye camera which mimics the compound eye structure of insects, compound images with these interesting advantages can be obtained. In this paper, we consider the...
Precise 3D modeling of a workpiece is essential in many industrial applications, such as workpiece localization and inspection. However, the limits of sensor fields of view (FoV), object self-occlusions, and robot arm footprints demand a proper selection of scanning paths and views. In this paper, we propose an autonomous modeling scheme using a next best view (NBV) algorithm based on an adaptive...
This paper formulates and studies the problem of distributed filtering based on randomized gossip strategy in order to estimate the state of a dynamic system via all sensors in a network. First we introduce the randomized gossip algorithm by which the fastest averaging strategy can be obtained for a network with an arbitrary topology. Then we combine the randomized gossip algorithm with the information...
In order to understand the underwater environment, it is essential to use sensing methodologies able to perceive the three dimensional (3D) information of the explored site. Sonar sensors are commonly employed in underwater exploration. This paper presents a novel methodology able to retrieve 3D information of underwater objects. The proposed solution employs an acoustic camera, which represents the...
This paper describes the approach taken by the team from the Robotic Intelligence Laboratory at Jaume I University to the Amazon Robotics Challenge 2017. The goal of the challenge is to automate pick and place operations in unstructured environments, specifically the shelves in an Amazon warehouse. RobInLab's approach is based on a Baxter Research robot and a customized storage system. The system's...
This paper presents a method for estimating object poses based on force sensor information using a particle filter. Autonomous robots often face uncertainty of measurement of object position when they manipulate objects. Related studies dealing with uncertainty in manipulation mainly focused on motions while grasping objects. In contrast, however, a non-grasp contact motion can be advantageous because...
This paper describes the implementation of a 3D handheld scanning approach based on Kinect. User may get the 3D scans at a very fast rate using real time scanning devices like Kinect. These devices have been utilized in several applications, but the scanning lacks in the accuracy and reliability of the 3D data, which makes their employment a difficult task. This research proposed the 3D handheld scanning...
This paper presents an integrated neural regularization method in fully-connected neural networks that jointly combines the cutting edge of regularization techniques; Dropout [1] and DropConnect [2]. With a small number of data set, trained feed-forward networks tend to show poor prediction performance on test data which has never been introduced while training. In order to reduce the overfitting,...
In this paper, we propose an illumination invariant lane color recognition method. Most of the conventional lane color recognition methods suffer from various illumination changes. In the past, the HSV color space has been commonly used to tell white and the yellow road lines, because the HSV color space is a range of specific colors. However, it is known that accurate road line recognition is difficult...
This paper presents a novel method to extract and track road boundaries in a temporal sequence of occupancy grids collected from a moving vehicle that is equipped with a laser scanner. The road boundaries are represented as circular arcs, where it is assumed that the boundaries are parallel to the driving direction. In order to find the optimal parameters of the circular arcs, first a one-dimensional...
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