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Environment, sustainable development as well as new transportation service emergence in urban areas are major concerns. Consequently, studies are currently intended to automate electric vehicles designed for applications in free access. An additional functionality that appears very attractive is vehicle platooning. In order to avoid oscillations within the fleet when completing this task, a global...
In this paper, we propose a technique of learning a noise pattern of visual odometry for accurate and consistent 6DOF localization. The noise model is represented by three parameters of feature points as input: (I) The number of inliers among feature points, (II) Average of distances between feature points, (III) Variance of interior angles. The correlation between these parameters and estimation...
This paper describes a modeling of movement object. A auto driving of the car is studied to reduce traffic accidents and traffic jam in late years. The experiment tries there control with the radio controlled car which did movement same as a car. The control of the radio controlled car controls the steering voltage on speed uniformity this time. The control method usually uses model predictive control...
In this paper, we propose an efficient solution to 6 degrees of freedom (6DOF) localization using unscented Kalman filter for planetary rovers. The solution is a technique augmented the unscented Kalman filter for accurate 6DOF localization, named augmented unscented Kalman filter (AUKF). The AUKF is designed to deal with problems which occur on other planets: wheel slip, visual odometry error, and...
Simultaneous Localization and Mapping (SLAM) based on visual information is a challenging problem. One of the main problems with visual SLAM is to find good quality landmarks, that can be detected despite noise and small changes in viewpoint. Many approaches use SIFT interest points as visual landmarks. The problem with the SIFT interest points detector, however, is that it results in a large number...
Based on inspirations from infant development we present a system which learns associations between acoustic labels and visual representations in interaction with its tutor. The system is integrated with a humanoid robot. Except for a few trigger phrases to start learning all acoustical representations are learned online and in interaction. Similar, for the visual domain the clusters are not predefined...
This article mainly talks about the application of particle filter orientation based on visual noise in the RoboCup emulational group. Agent update the world models of maintain interiorly make use of this means, provide the better world model for the upper level decision.
A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association...
Increase in accessibility of low cost webcams has lead the way for hobbyists and researchers to include affordable, yet information rich, visual sensors for areas such as machine vision. This work investigates the practical considerations of using a floor pointing visual sensor for visual servo applications. Several conditions and characteristics of both the webcam and the ground texture tracking...
In a multi-robot system, in which each of the robots constructs its own local map, it is necessary to perform the fusion of these maps into a global one. This task is normally performed in two different steps: by aligning the maps and then merging the data. This paper focusses on the first step: Map Alignment, which consists in obtaining the transformation between the local maps built independently...
Traditional methods used for navigating miniature unmanned aerial vehicles (MAVs) consist of fusion between Global Positioning System (GPS) and inertial measurement unit (IMU) information. However, many of the flight scenarios envisioned for MAVs (in urban terrain, indoors, in hostile (jammed) environments, etc.) are not conducive to utilizing GPS. Navigation in GPS-denied areas can be performed using...
A fast homography decomposition algorithm for visual servo of mobile robots is presented. Motion constraints of the mobile robot are exploited and thus the complexity of the algorithm decreases significantly by avoiding the singular value decomposition (SVD) step in most cases, which is potentially competitive in such applications as visual servo task executed at the video rate. Moreover, the ambiguity...
To the problem of particle degeneracy and needing a large sample size for particle diversification, the swarm intelligence methodology was introduced into particle filter. Artificial fish swarm algorithm was given to solve particle destitution by means of optimization of particle filtering. First, the principium of particle filtering and some problems about it were pointed out. Then blending artificial...
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