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This research presents a system that provides useful information by data mining. The system collects human motions to process data mining, and uses the result to detect human intention, and then provide service. The system includes three parts: the input devices part that is to collect data, the server part that is to analyze and process the data mining, and the client part that is to provide service...
This paper deals with environment reconstruction in informationally structured space used for pocket robot partners. The environmental information is measured through the sensor network, and is stored in the remote host computer. The pocket robot partner accesses the environment information through wireless LAN, and receives a 3D model of the environment including people and other robots. Therefore,...
In this paper, we propose an algorithm to track welding line of TiG welding in welding pipe or tube. The proposed algorithm consists of detecting edge, binarization, segmenting target area, locating welding torch and locating welding line. Firstly, we use prewitt operator to form the edge of image which is acquired from industrial camera. Secondly, we achieve the binary image by using maximal variance...
This paper identifies a baseline level of performance that will be used for assessing teleoperation systems for miniature rotorcraft. The experimental results show the performance measured while operating a miniature rotorcraft in a typical RC mode (the pilot directly observes the helicopter) as well as a simple teleoperation mode (the pilot operates the vehicle using video from an onboard camera)...
During the development of multiagent systems, the way agents communicate depends exclusively on the development platform of choice, each platform having its advantages and disadvantages. This work regards the integration of GPP, which is an agent development platform, and JXTA, which provides a network protocol, getting a peer-to-peer network architecture between the containers involved. To verify...
Vision-based human action recognition provides an advanced interface, and research in the field of human action recognition has been actively carried out. However, an environment from dynamic viewpoint, where we can be in any position, any direction, etc., must be considered in our living 3D space. In order to overcome the viewpoint dependency, we propose a Volume Motion Template(VMT) and Projected...
This paper presents an evaluation of the SIFT (scale invariant feature transform), Colour SIFT, and SURF (speeded up robust feature) descriptors on very low resolution images. The performance of the three descriptors are compared against each other on the precision and recall measures using ground truth correct matching data. Our experimental results show that both SIFT and colour SIFT are more robust...
This manuscript describes an implementation of a system that can adaptively cope with the task of robust colour identification in the domain of robot soccer. The main challenge is to perform this in an environment of changing light conditions and/or cameras used. The camera setup is first characterised using common techniques from colour management with ICC profiles. In a second step current light...
This paper presents an application of vision-based object recognition to create in mobile robots. A system is developed which makes use of the scale invariant feature transform (SIFT) algorithm to recognize a leader robot or human. The follower robot then uses PID control to track the leader's movements while maintaining a fixed following distance. These experiments proved the SIFT algorithm as a...
Recently, classical pairwise Structure From Motion (SfM) techniques have been combined with non-linear global optimization (Bundle Adjustment, BA) over a sliding window to recursively provide camera pose and feature location estimation from long image sequences. Normally called Visual Odometry, these algorithms are nowadays able to estimate with impressive accuracy trajectories of hundreds of meters;...
In this paper, we propose stereo vision based visual odometry with an effective feature sampling technique for untextured outdoor environment. In order to extract feature points in untextured condition, we divide an image into some sections and affect suitable processes for each section. This approach can also prevent concentration of feature points, and the influence with a moving object can be reduced...
We investigated eye movement in a transportation task using remote control. Participants controlled two sets of joysticks to move a toy excavator and a toy truck monitoring the task process through video displays. They repeated the task ten times. At an early stage of skill acquisition, the participants tended to look at both task related objects (e.g., material to transport and the shovel) and the...
Humanoid robots consist of biologically inspired features, human-like appearance, and intelligent behavior that naturally elicit social responses. Complex interactions are now possible, where children interact and learn from robots. A pilot study attempted to determine which features in robots led to changes in learning and behavior. Three common learning styles, lecture, cooperative, and self-directed,...
This paper investigates a prototype of an interaction design for a flexible natural language user interface with a minimal set of gestures and natural language commands. The prototype is evaluated using a Hi-Fi simulation approach that allows the enactment of an interfaces that accommodates gesture and speech input for directive commands. In the scenario users were guiding a robot equipped with a...
Estimation of a caregiver's view is one of the most important capabilities for a child to understand the behavior demonstrated by the caregiver, that is, to infer the intention of behavior and/or to learn the observed behavior efficiently. We hypothesize that the child develops this ability in the same way as behavior learning motivated by an intrinsic reward, that is, he/she updates the model of...
Disability of visual text reading has a huge impact on the quality of life for visually disabled people.One of the most anticipated devices is a wearable camera capable of finding text regions in natural scenes and translating the text into another representation such as speech or braille.In order to develop such a device,text tracking in video sequences is required as well as text detection.The device...
This paper proposes a new method of pest detection and positioning based on binocular stereo to get the location information of pest, which is used for guiding the robot to spray the pesticides automatically. The production of agricultural cultivation in greenhouse requires of big quantities of pesticides for pest control. Pesticides application is a major component of plant production costs in greenhouse,...
This paper describes the hardware and software systems that make up an experimental architecture developed to facilitate teleoperation research for miniature rotorcraft. One objective in developing this platform is to place the minimum required sensors and electronics onboard a miniature helicopter with limited payload. The onboard hardware resources must be sufficient to simplify the teleoperation...
In developmental research, tutoring behavior has been identified as scaffolding infants' learning processes. It has been defined in terms of child-directed speech (Motherese), child-directed motion (Motionese), and contingency. In the field of developmental robotics, research often assumes that in human-robot interaction (HRI), robots are treated similar to infants, because their immature cognitive...
In order to realize visual servoing for robot manipulators, the robust and accurate estimation of a target object pose must be achieved. The pose estimation is achieved by a three-dimensional registration method. This paper presents this novel method for the registration of the rotated and translated part according to its camera images and three-dimensional model. The spatial registration parameters...
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