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A set of Matlab tools were developed to create seafloor mosaics from AUV photosurveys. The resulting mosaic products are used to guide instrument placement, ground-truth acoustic backscatter targets, and inspect sensor packages or other targets. Because of the positional sensitivity of these tasks, effort has been made to preserve the geographic distribution of the image content. After initial image...
Visual Odometry (VO) is the process of calculating the motion of an agent (such as, robot and vehicle), using images captured by a single or multiple cameras embedded to it. VO is an important process to supplement autonomous navigation systems, since VO can provide accurate trajectory estimates. This process can be used to perform a 3D mapping, in order to provide more information during a vehicle...
This paper addresses the problem of controlling the posture of a dual wheeled mobile terrestrial robot, with movement constraints with the objective of detect and follow a planar moving target, using a single fixed vision sensor. The main challenge addressed is to keep the robot oriented in the same direction as the target. In order to accomplish it, a computationally simple control algorithm is proposed...
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...
Aiming at the task of autonomous search and target capture for the intelligent vehicle, in this paper, the intelligent vehicle with a four-degree-of-freedom manipulator was taken as the research object. Firstly, the D-H (Denavit-Hartenberg Matrix) method is utilized to construct a model of the manipulator by MATLAB, and a method is given to calculate the analytical solution of the angle of manipulator...
Rigid structure-from-motion (RSfM) and non-rigid structure-from-motion (NRSfM) have long been treated in the literature as separate (different) problems. Inspired by a previous work which solved directly for 3D scene structure by factoring the relative camera poses out, we revisit the principle of “maximizing rigidity” in structure-from-motion literature, and develop a unified theory which is applicable...
Hand-Eye Calibration (HEC) which is necessary in robotics is proposed to determine the relative transformations between the camera and the Inertial Measurement Unit (IMU) in this paper. We know HEC could be degenerated into the problem of solving an optimization issue for the homogeneous matrix composed of rotation and translation. After acquiring an initial estimation with Kronecker product and singular...
Removing undesired reflections from a photo taken in front of a glass is of great importance for enhancing the efficiency of visual computing systems. Various approaches have been proposed and shown to be visually plausible on small datasets collected by their authors. A quantitative comparison of existing approaches using the same dataset has never been conducted due to the lack of suitable benchmark...
At disaster sites, the use of Micro Unmanned Aerial Vehicles (MUAVs) is expected for human safety. One application is to support first-phase emergency restoration work conducted by teleoperated construction machines. To extend the operation time of a MUAV, the authors proposed a powerfeeding tethered MUAV to provide an overhead view of the site to operators. The target application is to be used outdoors,...
In this article, the efficiency of Kalman's filter to classify moving parts is shown. A SCARA robot working cell was designed and built to accomplish this task. The main goal is to classify parts that are being carried on a conveyor belt at constant speed according to their shape or color. The operation of the Kalman's filter is described, as well as the mathematical equations to develop the algorithm...
This paper presents a self-memory prediction model to mitigate the effects of image based visual servoing (IBVS) system under uncertainty. The performance of IBVS system is easily influenced by different tasks, diverse environments and uncertain disturbances. Through building a self-memory prediction model to keep previous movement tendency in the every current movement, the framework of a self-memory...
The speed characteristic of moving contact is vital to the high voltage circuit breakers. But due to the contacts of high voltage circuit breaker are completely isolated by arc chamber, the common measurement methods have some disadvantages. In this paper, a new method for measuring the speed characteristics based on machine vision algorithm is developed. This noninvasive method just needs to draw...
In recent years, there have been a variety of proposals for high quality 3D reconstruction by fusion of depth and normal maps that contain good low and high frequency information respectively. Typically, these methods create an initial mesh representation of the complete object or scene being scanned. Subsequently, normal estimates are assigned to each mesh vertex and a mesh-normal fusion step is...
This paper mainly studies the autonomous navigation method for the constellation. Based on the measurements of inter-satellite ranging and direction, a federated filter algorithm is presented. Then, to redue the error caused by the constellation rotation, a camera is applied in observations. Ultimately, the feasibility of reducing the number of cameras observations is discussed. The simulation results...
Texture reconstruction is the last step of 3D reconstruction pipelines that makes 3D geometry models very impressive and beautiful. Once the 3D model is created through structure-from-motion, multi-view stereo and mesh reconstruction, real image based texture is mapped to the models. But it is not easy to generate high quality texture. There are many difficulties cause problems: the large number of...
Monocular ORB-SLAM has been proved to be one of the best open-source SLAM method. However, it is still unsatisfying especially in low illumination indoor environment, which is caused by scale recovery and wrong feature matching. In this paper, we proposed a vehicle model based monocular ORBSLAM method supplemented by April-Tag to improve the performance of original algorithm. This approach is practical...
This paper explores the predictive power of perhaps the most well-supported human performance model in the context of a complex ecological task. The model is Fitts Law, which describes the classic speed-accuracy tradeoff of goal-directed motor behavior. The task is modern pistol shooting competition, which demands explicit cognitive strategy and full-body biomechanical coordination. Data obtained...
Accurate hand-eye calibration is a very significant task in robotics. Many algorithms focus on L optimization, and Least Square Estimation (LSE) is usually employed to deal with this problem. For the reason that LSE can only be applied to occasions that errors obey normal distribution, LSE can lead to a lower precision of calibration result when gross errors occur. Different from the existing approaches,...
This paper presents design and implementation of face tracking system using servo-motor-controlled Pan-Tilt visual system. The objective is to maintain the position of a tracked object at the center of frame window on the screen. A simple camera is used as visual sensor to obtain the face object's actual position. Combination of Viola-Jones and Template Matching algorithms are used for face detection,...
We present a method to assist pre-touch on multi-touch surfaces using features extracted from the fingertips of the user's hands. Pixel area a feature obtained from the contour of a fingertip is computed and tracked using commodity cameras to obtain the velocity of approaching fingers. We target sound volume control for digital multi-touch instruments an area where pre-touch is demonstrated with our...
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