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This paper describes the vision-based obstacle detection system of the CWRU Cutter, an Autonomous Lawnmower developed for the annual ??Institute of Navigation (ION) Autonomous Lawnmower Competition.?? Unlike LIDAR sensors commonly found on autonomous vehicles, computer vision systems can provide similar information at drastically reduced prices. Though significantly more cost-effective than LIDAR,...
Application of a vision system and a remote control car to an elective fourth year design project in electrical engineering is discussed. The design project involves learning and application of various sensors, actuators, control theories. The end product of the design project is an intelligent vehicle that is able to follow an emulated highway automatically. A camera with embedded color tracking...
In the near future robots will be used in home environments to provide assistance for the elderly and challenged people. The arrangement of sensors influences greatly the quality of information provided to the robot. We, therefore, examine the problem of the optimal arrangement of vision sensors for the case of a robot following a pre-defined path. A methodology to evaluate the arrangement of sensors...
This paper proposes an implementation of Fast-SLAM for localization and mapping for an indoor environment. The system use only the bearing information retrieved from an omnidirectional camera via vertical line segments which are common in an indoor environment. The real world experiment is also presented using Pioneer-DX3 mobile robot moving in a room with several objects.
2D laser range finders have been widely used in mobile robot navigation. However, their use is limited to simple environments containing objects of regular geometry and shapes. Stereo vision, instead, provides 3D structural data of complex objects. In this paper, measurements from a stereo vision camera system and a 2D laser range finder are fused to dynamically plan and navigate a mobile robot in...
This paper presents a simultaneous localization and mapping algorithm (SLAM) by using a new 3D sensor namely the photonic mixer devices (PMD). The PMD camera enables 3D image grabbing within a few milliseconds and gives an important impulse in visual 3D sensing. This camera is capable of capturing reliable depth images directly in real-time. The PMD is also compact and affordable, which makes it attractive...
The recognition and localization of objects in space is of fundamental interest in many robot vision applications, especially in those that are supposed to provide services to human beings. The trivial example of any such task is manipulation, i.e., providing a robot the means of handling objects. In this work, we discuss the chances and the problems experienced when using a time-of-flight camera...
Robots that never need any calibration of their kinematics, their actuators or their sensors promise great advantages in terms of maintenance cost, robustness and dependability. Here we propose an approach for realizing such robots for calibration-free vision-based object manipulation. The underlying concepts are based on the utilization of laws of projective geometry that always apply, regardless...
The capability to assemble structures is fundamental to the use of robotics in precursor missions in orbit and on planetary surfaces. We have performed autonomous assembly in neutral buoyancy of elements of a space truss whose mating components require positioning tolerances of the same order of magnitude as the noise in the sensor systems used for the docking. Numerous trade-offs, design decisions,...
Vision based localization techniques in an intelligent environments have been well studied. But it still faces several difficulties, such as limited surveillance area, low response speed, relative high computation cost and so on. In this work, we create a large planar camera array which extremely extends the scope of surveillance area, and more precisely localizes robots with high response speed for...
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