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In the autonomous city explorer (ACE) project a mobile robot is developed, which is capable of finding its way to a given destination in an unknown urban environment. An exemplary mission is to find the way from our institute to the Marienplatz, a public place in the center of Munich, without any prior knowledge or GPS information. Inspired by the behavior of humans in unknown environments, ACE must...
This paper describes a novel approach that can be used to determine the focal object that a robot is looking at and introduces the unique robotic eye, AttractiveEye. Humans have the visual input mechanism but do not have the output mechanism concerning the visual signal except gestures. AttractiveEye can communicate information regarding the color of an object by changing its color to match that of...
An approach of road crossing scene recognition based on scale invariant feature transform (SIFT) and color features is proposed in this paper. Firstly, the SIFT features are extracted and the color histogram in HSI space is calculated. Secondly, the K-D trees algorithm is used to match SIFT features of images in road crossing images database, and Bhattacharyya distance match result is calculated by...
This paper presents a new approach for the classical Markov localization method for mobile robots by using image quality evaluation. Machine learning techniques have been used to obtain the quality of the images. This quality value is used to select the best information source, between odometry and sensor information. Real experiments in different scenarios of the Robocup standard platform league...
A key problem of a mobile robot system is how to localize itself and detect objects in the workspace. In this paper, a multiple sensor based robot localization and object pose estimation method is presented. First, optical encoders and odometry model are utilized to determine the pose of the mobile robot in the workspace, with respect to the global coordinate system. Next, a CCD camera is used as...
We describe a framework for detecting and tracking continuous ldquotrailsrdquo in images and image sequences for autonomous robot navigation. Continuous trails are extended regions along the ground such as roads, hiking paths, rivers, and pipelines which can be navigationally useful for ground-based or aerial robots. Our approach to single-image trail segmentation incorporates both bottom-up and top-down...
Image segmentation is an important problem because it is required for many different applications. In particular, visual extraction of an object that is the target of attention or manipulation, is an increasingly important issue in robot vision. In real-world applications, a robot needs to extract an object designated by a human in a complicated environment. There is a large literature on the problem...
The ability to detect and follow a specific person is a key prerequisite of service mobile robots in indoor environments. A novel method for tracking and following a specific person with a mobile robot by combining vision and laser range information is proposed. The vision module which integrates the color matching method using the Horizontal-Projecting Probability Histogram (HPPH) of upper body color...
This paper mainly concerns about the development of a small-sized humanoid robot for penalty kick function in FIRA by using FPGA. The environment information is captured by the CMOS image sensor and the strategy is processed by FPGA. We will describe how the robot search the ball in the field and the tracking algorithm will be introduced. The strategy for PK event will also be presented in this paper...
This paper proposes a method that can prevent remote mobile robots colliding with obstacles. The method uses tactile and visual senses. Visual sense is represented by the virtual stick. The virtual stick is a method that represents obstacle distance by color. The obstacle distance is obtained by the robotpsilas infrared sensors. The user can distinguish dangerous and safe distances between robot and...
Person retrieval and indexing in video sequences is a challenging task for many multimedia applications. This paper proposes a new method that index the person based on the similarity. Firstly, the persons in a shot are detected and tracked through face detector and continuously adaptive mean shift algorithm. Then mid-level features such as clothes colors and voice are applied to represent the person...
lnformation regarding the environment surrounding remote mobile robots, such as images, sensors, and sounds, is necessary for the effective control of these robots. However, it is difficult to control the remote mobile robot safely because of the delay in receiving the image information and inaccuracies in the sensor information. We aim to reduce the problems occurring during the control of the remote...
This article presents four different approaches for identifying persons during tracking. The ability to keep track of people is essential for mobile robots which provide services to humans. The tracking task is usually carried out using range measuring devices like laser range sensors, which provide spatial information only. They allow to estimate the trajectories of objects quite accurately, but...
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