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Human detection and tracking are a vital part of mobile robot. In this paper, a method of improving performance of human detecting and tracking based on stereo vision is proposed. The proposed method is to get the human's disparity image by stereo camera, and then we can attain the human feature by image processing. Hu moment is chosen to detect human because it has the invariant character of translation,...
Concrete pipes are used in a variety of areas for conducting media underground (e.g. wastewater, cooling water, etc.) or for transportation purposes. Regular cleaning and inspection is required to ensure the static integrity of the pipe and to insure against the problems associated with failure of the pipe. In this paper, the SVM-RS system for cleaning and inspecting large concrete pipes will be presented...
To control the trajectory of the unicycle robot, the CCD camera has been utilized for detecting the lanes for the robot. Conventional unicycle robot can control the posture while it is moving forward and backward with a certain velocity. However it is not capable of controlling the direction to follow a given lane or to avoid an obstacle. Our proposed unicycle robot is equipped with a rotational disk...
Intelligent laser remanufacturing robot system has meant a revolution since it is convenient, flexible, high automatic and precise. It is based on industrial robot, vision, high-tech surface techniques and rapid prototyping technology. It has been developed quickly in recent years. Compared to the previous laser remanufacturing system, it has a high degree of automation due to the vision sensors....
Ping-pong ball detection plays an important role in the vision system of ping-pong playing robots. In the paper, we present a fast ball detection method for ping-pong playing robot. A reasonable searching region is proposed based on the ping-pong table and the prediction of the ball's current position. Five key points are used to detect the ball in our method to meet the ping-pong ball's high speed...
When the man-machine communication system faces many users at the same time, it becomes a question that how to discover the spokesperson. In the complex environment, the noise may cause some difficulties for the robot to recognize the sound commands. To solve this question, we try to use the camera on the robot to find out the spokesperson. In this research, we propose a new image processing method...
Nowadays robots can recognize their environment in a limited way. Future robots designed for operations in a natural environment and for communicating with humans in a natural way require the fusion of data acquired from spoken words and sensory data from the surrounding area. By means of intelligent sensors for speech recognition, proximity measurement, colour measurement and image processing an...
In this paper we explain the basics of our work in devising a Deminer robot with image processing feedback line. It is an educational project that can be regarded as a guide for those who are willing to start using image processing in their mobile robot projects.
A robotic vision system has been designed and analyzed for real time tracking of maneuvering objects. Passive detection using live TV images provides the tracking signals derived from the video data. The calibration and orientation of two cameras is done by a bundle adjustment technique. The target location algorithm determines the centroid coordinates of the target in the image plane and relates...
In this paper we present the results from our visual servoing system for a real industrial robot. In contrast to other visual servoing system in the literature, the one presented here, which was derived from [4], uses a quaternion representation of the rotation instead of the more common matrix representation. By doing so, the proposed system avoids potential singularities introduced by the rotational...
Recently, many vision-based navigation methods have been introduced as an intelligent robot application. However, many of these methods mainly focus on finding an image in the database corresponding to a query image. Thus, if the environment changes, for example, objects moving in the environment, a robot is unlikely to find consistent corresponding points with one of the database images. To handle...
A major research of the climb stair small humanoid robot is to make a robot can climb stair with itself. To climb stair, the robot needs to find the environment information. This paper presents the new technique for climb stair robot using image processing technique and also reduces the time processing. The experiment had been used a single camera fix at 60 cm height on the top of robot. The robot...
This paper proposes some algorithms integrating grid and topology map and its performance is faster and more stable. The proposed scheme uses an occupancy grid map in representing the environment and then formulate topological information in path finding by A* algorithm. The localization process and the dynamic obstacle avoidance can be accomplished by topological information on grid based map. On...
Armed at solving the problems appeared in researching servo control system of bomb-disposed robot at a distance, adopting Zhangpsilas image calibrating method, accomplished the both eyes stereo-identity mission. Having found the geometry solution for every manipulator joint angle, avoided finding the solution of inverse process of the kinematics. Have applied the RTW code to generate a software ,...
Superflexible robot programming reduces the profitable batch sizes of industrial robots. The paper presents a new way to determine the trajectory for welding robots based on the Intelligent Space concept. The system uses two cameras and edge detection with other image processing algorithms to find the welding path in the image. The three dimensional trajectory is obtained by stereo vision; afterwards...
In this paper, speech commands based on natural spoken language are used so that two or more same colored objects are tracked by a robot manipulator. More precisely, after receiving a speech command regarding the color information, the end-effector of the robot is controlled to approach a desired object out of many objects by using image, in which the image information is further applied to the human...
In the visual tracking system, noise appearing in visual information measurement contributes significant degradation on tracking performance. In this paper the limited authority control strategy is added to the previous existing control to improve the tracking performance.
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