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Three dimensional point clouds acquired by range scanners often do not represent the environment precisely due to noise and errors in the acquisition process. These latter systematical errors manifest as deformations of different kinds in the 3D range image. This paper presents a novel approach to correct deformations by an analysis of the structures present in the environment and correcting them...
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,...
Balancing a normal pencil on its tip requires rapid feedback control with latencies on the order of milliseconds. This demonstration shows how a pair of spike-based silicon retina dynamic vision sensors (DVS) is used to provide fast visual feedback for controlling an actuated table to balance an ordinary pencil. Two DVSs view the pencil from right angles. Movements of the pencil cause spike address-events...
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...
Microsoft recently announced the release of Microsoft robotics studio (MSRS) for developing applications for robots. By itself, it is interesting to see this new toolkit, but it should appeal beyond those interested in programming robots. In this research, MSRS is used to control the LEGO MINDSTORMS NXT robot motion using Webcam for road sign recognition. MSRS software, Sensors, and Motors are used...
We model the rebound phenomenon between a ping-pong ball and the table/racket rubber. In the model between the ball and racket rubber, it is assumed that the kinetic energy of the contact velocity is stored as the potential energy due to the elasticity of the rubber. This assumption leads to that the impulse in the horizontal direction is proportional to the contact velocity. The vertical and horizontal...
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...
A probabilistic approach is proposed for Simultaneous robot Localization and Person-Tracking using Rao-Blackwellised particle filters (RBPF). Such filters represent posteriors over the person location by a mixture of Kalman Filters, where each is conditioned on a sample of robot pose. Furthermore, information collected via multi-modal sensors is utilized in the RBPFs framework to improve the performance...
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...
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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