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Topological navigation consists for a robot in navigating in a topological graph which nodes are topological places. Either for indoor or outdoor environments, segmentation into topological places is a challenging issue. In this paper, we propose a common approach for indoor and outdoor environment segmentation without elaborating a complete topological navigation system. The approach is novel in...
The primary objective of our lane following system is to autonomously drive a mobile robot between two parallel lanes. Usually, the low sampling rate and the visibility of the environment are the main limitations of the vision sensors in a lane following system. In this paper, a higher sampling rate odometry sensor is integrated with a vision-based system using an Unscented Kalman Filter (UKF). The...
This paper presents a feature based 3D mapping approach with regard to obtaining compact models of semi-structured environments such as partially destroyed buildings where mobile robots are to carry out rescue activities. To gather the 3D data, we use a laser scanner, employing a nodding data acquisition system mounted on both real and simulated robots. Our segmentation algorithm comes up from the...
This paper presents a path planning algorithm for a fast mobile robot based on extended Kalman filter (EKF) by fusing the satellite navigation and the vision system in the outdoor environment. The suggested approach offers several improvements that result in smoother trajectories and greater reliability. The noisy location information of a robot is enhanced by using the vision system which contain...
Vision based human robot interaction (HRI) in a crowded scene is a challenging research problem. The aim of this paper is to provide a reliable framework for simple gesture recognition for robotic navigation under partial occlusion and varying illumination conditions. The proposed method combines hand motion segmentation and skin colour detection for gesture recognition. Motion clustering based on...
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