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We consider the problem of computing shortest paths in a dense motion-planning roadmap G. We assume that n, the number of vertices of G, is very large. Thus, using any path-planning algorithm that directly searches G, running in O(VlogV + E) ≈ O(n2) time, becomes unacceptably expensive. We are therefore interested in anytime search to obtain successively shorter feasible paths and converge to the...
X-ray angiography is a common method for image-guided navigation comprising surgical devices and vessel contours detection which can offer visual feedback to physicians. However, for the sake of both physicians' and patients' health, the contrast agent is injected intermittently and in a low dosage, so the X-ray images are not always of adequate quality for visual examination. So the navigation, which...
AprilTags and other passive fiducial markers require specialized algorithms to detect markers among other features in a natural scene. The vision processing steps generally dominate the computation time of a tag detection pipeline, so even small improvements in marker detection can translate to a faster tag detection system. We incorporated lessons learned from implementing and supporting the AprilTag...
Currently the micro-robotic cell injection procedure is performed manually by professional bio-operators. It is a challenging task requiring advanced skills including the ability to precisely control the movement of a micropipette. Developing these skills requires both lengthy and intensive training, and significant practical experience. This paper extends upon our previous work in desktop Virtual...
Therapy environments for robot-assisted stroke rehabilitation are mostly static, in that objects are earmarked for different functional tasks, object locations remain fixed, trajectories are predefined and tasks manually selected. This work advocates the need for a therapy environment that allows dynamic object positioning, different objects can be used for the same functional task and tasks can be...
In this paper a stereo-vision based framework is presented to track the motion of a table-tennis ball in motion-blurred images. In the proposed approach, first the motion direction is identified by minimizing L2 norm of directional derivatives of the blurred image and the motion width is estimated using the bounding rectangle of the foreground object. Then more accurate motion parameters of the ball...
Emotions are generated and modulated by many factors in the ever-changing surrounding environment. A new and challenging task is to emulate emotional responses on a robot that are caused by visual stimuli, such that the robot's responses mirror that of the human user. This paper presents the initial stage of an affective system that has been trained on-line using reinforcement learning to generate...
Vision is an essential part in robotic systems, where attention plays an important role to cope with the complexity of the real world. Attention mechanisms have been proposed in the past to guide search and also segmentation of objects. Building on recent advances in affordable 3D sensing we first attend to objects using a novel saliency map, based on color and depth information. We then segment attended...
Visual tracking of an object can provide a powerful source of feedback information during complex robotic manipulation operations, especially those in which there may be uncertainty about which new object pose may result from a planned manipulative action. At the same time, robotic manipulation can provide a challenging environment for visual tracking, with occlusions of the object by other objects...
While the arctic possesses significant information of scientific value, surprisingly little work has focused on developing robotic systems to collect this data. For arctic robotic data collection to be a viable solution, a method for navigating in the arctic, and thus of assessing glacial terrain, must be developed. Segmenting the ground plane from the rest of the image is one common aspect of a visual...
For the interpretation of a visual scene, it is important for a robotic system to pay attention to the objects in the scene and segment them from their background. We focus on the segmentation of previously unseen objects in unknown scenes. The attention model therefore needs to be bottom-up and context-free. In this paper, we propose the use of symmetry, one of the Gestalt principles for figure-ground...
This paper introduces a practical method which based on edge detecting by Canny operator and line detecting by Hough transform to compensate the error between the center of the special label and the typical target object when use the technology of special label to identify the object in the process of visual servo. The coordinates of the label center can be accurately measured by the program that...
A novel approach is presented to detect contour of object. Firstly, the zero-cross operator to imitate the visual receptive field is used to detect edge of image. Secondly, facing the large amount of noise in complex background, the neighborhood description operator is designed, and the neighborhood information of interesting point is analyzed as well. Then the contours of objects are acquired by...
In this paper a unique landmark identification method is proposed for identifying large distinguishable landmarks for 3D visual simultaneous localization and mapping (SLAM) in unknown cluttered urban search and rescue (USAR) environments. The novelty of the method is the utilization of both 3D (i.e., depth images) and 2D images. By utilizing a scale invariant feature transform (SIFT)-based approach...
In robotics, appearance-based topological map building consists in infering the topology of the environment explored by a robot from its sensor measurements. In this paper, we propose a vision-based framework that considers this data association problem from a loop-closure detection perspective in order to correctly assign each measurement to its location. Our approach relies on the visual bag of...
Methods for a daily assistive humanoid robot to manipulate and recognize the objects incorporating joints and learn the manipulation knowledge are presented. It is necessary for humanoid robots to use the objects incorporating joints such as some furniture and tools to provide daily assistance. We have been tried to make an integrated humanoid robots recognition and manipulation system of the objects...
Traditionally, the search region is based one pipolar line and the maximum disparity constraints in area-based stereo correspondence methods. The search region is invariable with this method. The reduction of search region can increase the performance of the matching process, in the context of the execution time and accuracy. According to disparity gradient theory, the paper presents a fast area-based...
This paper presents a robust robot self-localization method where robot will identify its own position based on visual appearance features in the environment. Many research studies have been conducted on the navigation method for the autonomous mobile robot, and introduced precise and accurate robot self-localization methods. However, we believe that in some situation, it is not necessary for a robot...
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