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With the advancement in the technology, objects can be represented effectively in their 3D digital models which accurately represents their physical counterparts. Navigation services and mapping based on geographical data have become very popular in supporting our everyday lives. Much of these services are currently available mostly for outdoor purposes, however applications for indoor purposes are...
Duckietown is an open, inexpensive and flexible platform for autonomy education and research. The platform comprises small autonomous vehicles (“Duckiebots”) built from off-the-shelf components, and cities (“Duckietowns”) complete with roads, signage, traffic lights, obstacles, and citizens (duckies) in need of transportation. The Duckietown platform offers a wide range of functionalities at a low...
3-D perception of scenes with specular surfaces is still challenging for robotics applications in urban areas, for both active and passive range sensors; there is a need for improved solutions that work without artificial illumination over a wide range of distances. The advent of cameras with microgrid polarization filter arrays, which allow acquiring four orientations of linearly polarized images...
Robot-assisted natural disaster management is recently employed to aid human rescuers at diverse disaster sites. Due to its compactness and availability, drone has become an effective tool for searching survivors from confined space such as collapsed building or underground area. However, the current scope of research in this field is limited because the research tends to focus on increasing accuracy...
We propose an approach for emptying of bin using a combination of Image and Range sensor. Offering a complete solution: calibration, segmentation and pose estimation, along with approachability analysis for the estimated pose. The work is novel in the sense that the objects to be picked are featureless and uniformly black in colour, hence existing approaches are not directly applicable. A key point...
We address the problem of extracting human body posture labels, upper body orientation and the spatial location of individual body parts from near-infrared (NIR) images depicting patterns of retro-reflective markers. The analyzed patterns originate from the observation of humans equipped with protective high-visibility garments that represent common safety equipment in the industrial sector. Exploiting...
In the last decade, multi-rotor Micro Aerial Vehicles (MAVs) have attracted great attention from robotics researchers. Offering affordable agility and maneuverability, multi-rotor aircrafts have become the most commonly used platforms for robotics applications. Amongst the most promising applications are inspection of power-lines, cell-towers, large and constrained infrastructures and precision agriculture...
Many existing person tracking systems are challenged by non-laboratory scenarios, including variable lighting conditions, rain, smoke, tracking distance, and tracking speed. We provide evidence that by using a 3D thermal sensor, a person can be tracked in three dimensions with high success using very simple tracking methods, in many of the challenging lighting conditions and other weather conditions...
As part of a research project, a robot with the ability to distinguish root plants and weeds with various sensors will be developed. The given information is then being used to destroy the weeds automatically. This will help to minimize the use of pesticides, or even completely erase it, thus improving the environmental impact. The first step in this project is to evaluate various sensors to find...
In this paper we propose a low-cost high-speed imaging line scan system. We replace an expensive industrial line scan camera and illumination with a custom-built set-up of cheap off-the-shelf components, yielding a measurement system with comparative quality while costing about 20 times less. We use a low-cost linear (1D) image sensor, cheap optics including a LED-based or LASER-based lighting and...
We present a real-time visual-based road following method for mobile robots in outdoor environments. The approach combines an image processing method, that allows to retrieve illumination invariant images, with an efficient path following algorithm. The method allows a mobile robot to autonomously navigate along pathways of different types in adverse lighting conditions using monocular vision. To...
Capable mobile manipulators require sophisticated sensing and environment perception. An important task is the precise localization of objects to be handled. In order to be able to deal with a wide variety of applications, sensor systems need to be able to work with glossy, shiny or transparent objects. Here we present an approach to that problem based on analyzing specular reflections using a custom...
Stereo Visual Teach & Repeat (VT&R) is a system for long-range, autonomous route following in unstructured 3D environments. As this system relies on a passive sensor to localize, it is highly susceptible to changes in lighting conditions. Recent work in the optics community has provided a method to transform images collected from a three-channel passive sensor into color-constant images that...
Structured light 3D scanning systems are fundamentally constrained by limited sensor bandwidth and light source power, hindering their performance in real-world applications where depth information is essential, such as industrial automation, autonomous transportation, robotic surgery, and entertainment. We present a novel structured light technique called Motion Contrast 3D scanning (MC3D) that maximizes...
The usage of sensory information for automation systems like autonomous robots is rising. For these applications the accuracy of the sensory data is of high importance. This is also valid for the task of transport by throwing where a thrown object has to be caught based on trajectory predicting using input data of a stereo camera system. Here the positioning accuracy of such a system is examined under...
In this paper, we propose a multiple 3D camera-based human tracking method which is robust to illumination changes and occlusions at indoor environments. To overcome the difficulties due to illumination change, several types of image features are used in a collaborative fashion, for which brightness intensity, hue, local binary pattern (LBP) and depth from 3D camera are considered. In addition, our...
The way to autonomous robotic systems leads to deal with acting and interacting with real-life scenarios. Focusing on human-robot interaction, one of the first issues to be solved concerns safety since systems are becoming larger and more sophisticated and the damage caused can be considerable. So, robotic systems must exhibit levels of adaptability high enough to achieve their goals by guaranteeing...
This paper presents a novel smart camera BiCa360 for real-time 360° panoramic views using a rotating dynamic vision sensor at up to 10 rotations per sec. The system consists of (1) a dual-line dynamic vision sensor generating events at high temporal resolution, on-chip time stamping (1µs resolution), having a high dynamic range and the sparse visual coding of the information, (2) a high-speed mechanical...
An alternative means of implementing line detection technique to navigate autonomous mobile vehicles was investigated, specifically using vision sensor as the front end detection device. A vision sensor has the advantages of much higher spatial and optical resolutions as compared to the conventional discrete photo-reflective sensors used in most line-following mobile vehicles. It could offer better...
The ability of a robot vision system to capture informative images is greatly affected by the condition of lighting in the scene. This paper reveals the importance of active lighting control for robotic manipulation and proposes novel strategies for good visual interpretation of objects in the workspace. Good illumination means that it helps to get images with large signal-to-noise ratio, wide range...
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