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A fast method based on binocular vision is proposed for mobile robot to detect drivable regions. First, the image is segmented into regions by searching contours. Second, part obstacle regions are determined by the vanishing line. Then, according to the different distribution of feature points extracted from the regions under the vanishing line, we use two different method to classify regions: various...
This paper presents the evaluation results for conventional methods that can be used for vision-based localization. An Active Scope Camera is a very thin snake robot and can be used as a rescue robot for search and rescue missions. Self-position estimation of the Active Scope Camera is important for efficient search. Nevertheless, using sensors for this purpose hinders the movement and maneuvering...
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 presents an unsupervised learning-based method for selection of feature points and object category classification to apply to a vision-based mobile robot. Our method has the following four capabilities. First, our method can localize target feature points using One Class-Support Vector Machines (OC-SVMs) without previous setting of boundary information. Second, our method can generate labels...
To obtain the pose of a monocular camera installed on the robot relative to the static artificial landmarks in a prepared room is one of many good methods for indoor robot localization. However, the point correspondence problem caused by rotation of cameras and the point detection precision problem are not paid enough attention to. In this paper, we proposed a novel coplanar landmark and a method...
Unmanned aerial vehicles (UAVs) have been recently deployed in various civilian applications such as environmental monitoring, aerial imaging or surveillance. Small-scale UAVs are of special interest for first responders since they can rather easily provide bird's eye view images of disaster areas. In this paper we present a hybrid approach to mosaick an overview image of the area of interest given...
This paper presents an efficient multiresolution video stabilization algorithm based on the Scale Invariant Feature Transform (SIFT) algorithm. The algorithm utilizes the Haar wavelet transformation of registered images, reducing the memory consumption while maintaining accuracy of the feature points, which we will quantitatively contrast in the paper.
This paper is motivated by the real world problem of search and rescue by unmanned aerial vehicles (UAVs). We consider the problem of tracking a static target from a bird's-eye view camera mounted to the underside of a quadrotor UAV. We begin by proposing a target detection algorithm, which we then execute on a collection of video frames acquired from four different experiments. We show how the efficacy...
Autonomous mobile robot needs various applications such as a control system, environment recognition, decision making, self localization, mapping, and obstacle avoidance. We developed the environment recognition system for wheeled mobile robot because these applications are mostly based on the environment recognition. In our previous research, we developed the wheeled mobile robot with passive linkage...
The research of autonomous robots is one of the most important issues in recent years. In the numerous robot researches, the humanoid robot soccer competition is very popular. The robot soccer players rely on their vision systems very heavily when they are in the unpredictable and dynamic environments. This paper proposes a simple and fast real-time object recognition system for the RoboCup soccer...
Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, mobile robots should generate an environment map by themselves. Then, we propose a method for 3D environment modeling by a mobile robot. For environmental measurement, we use a single omni-directional camera. We propose a new estimation method of camera motions...
This paper presents a novel structure learning algorithm for the creation of distributed Bayesian networks over static and mobile Vision Sensor Network (VSN) nodes. These compose an assistive, intelligent environment for activity recognition. We provide results demonstrating a higher level of accuracy in the recognition of fine motor tasks when the environment is augmented with a mobile robot and...
Accurate online localization is crucial for mobile robotics. In this paper, we describe a real-time image-based localization technique, which is based on a single calibrated camera. This can be supported by a second camera to improve accuracy and to provide the correct translational scale. Our goal is a robust and unbiased pose estimation in highly dynamic scenes on resource-limited systems. The presented...
A novel and inexpensive mechanism for acquiring 3D data suitable for indoor mobile robots is introduced. The scanner is currently capable of ranging up to 4 m with an accuracy of 0.05 m and costs less than 500 USD. The scans cover the whole 360 degrees around the robot at heights from floor level to 1 m. The data so obtained is particularly applicable to navigation, mapping and obstacle avoidance...
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,...
IAUV (Intervention Autonomous Underwater Vehicle) is a main direction for AUV's future development. An important feature for IAUV is the capability of autonomous underwater docking. On this other hand, underwater vision in IAUV is gaining increasing attention nowadays. To achieve a high reliable, optimized docking system, a guiding system for docking based on the philosophy of visual dynamic positioning...
In this paper a complete system is designed and implemented, in which the motion of a quadcopter is stably controlled based on visual feedback and measurements of inertial sensors. We focus on developing a cost effective and easy-to-setup vision system. Active markers were finely designed to improve visibility under various perspectives as well as robustness towards disturbances in the image-based...
In recent years, the delivery service robots are expected in general environment with human being. Especially, self-localization is required for such kind of service robots to perform task effectively. In previous work, many researches have developed the robot localization scheme using many kinds of sensors. However, in many cases, these scheme increase the cost of the system. How to lower the cost...
The major goal of research regarding mobile service robotics is to enable a robot to assist human beings in their everyday life. This implies that the robot will have to deal with everyday life environments. One of the most important steps towards able service robots is to enhance the ability to operate well in unstructured living environments. In this paper we focus on the integration of object recognition,...
This paper presents the stereo vision component of the stereo vision based robot controller (SVBRC). The SVBRC is a multi-component project, integrating a stereo vision component (presented here) with a basic mapping and path-finding component on a mobile robot base. The stereo vision component is a winner-take-all (WTA) method. It implements various error-filters to explicitly deal with various types...
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