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This paper presents an approach of human-vehicle cooperative navigation system as an implementation of Advanced Driving Assistance Systems (ADAS). The driver-in-the-loop system contains commands by a human driver, which are verified and corrected by the interactive navigation algorithm based on Image-based Dynamic Window Approach (IDWA). Several autonomous driving components are involved including...
This paper proposes a methodology for visual tracking of a dynamic generalized subject within an unknown map, by relying on its perception as a separate entity which can be distinguished spatially and visually from its environment. To this purpose, a 3D-representation of the visible scenery is examined, and the subject is spatially identified by its externally viewed hull via a mesh-connection algorithm...
Due to the complexity of the path planning for tourist scenic area, we divide the path of Tourist Scenic Area into panoramic scenic graph and sub-scenic graph, and regard these graphs as the same problem to solve. The paper puts forward the improved ant colony algorithm, and designs breeding ants, visual ants and common ants, which travel by their own rules. When the ants travel all the scenic spots,...
As long as visual features for recognition are known in advance and remain static due to a controlled environment, object tracking is state-of-the-art. Tracking objects in dynamically changing environments is still a challenge. Even harder is the tracking of moving objects with a moving camera. Our algorithm realizes a deterministic approach to track any 2D-features representable in a general way...
We discuss how gaze behavior of an observer can be simulated as a Monte Carlo sampling of a distribution obtained from the saliency map of the observed image. To such end we propose the Levy Hybrid Monte Carlo algorithm, a dynamic Monte Carlo method in which the walk on the distribution landscape is modelled through Levy flights. Some preliminary results are presented comparing with data gathered...
In this paper we present an algorithm for merging visual maps in a robot network. Along the operation, each robot observes the environment and builds and maintains its local map. Simultaneously, the robots communicate and build a global map of the environment. The communication between the robots is limited, and, at every time instant, each robot can only exchange data with its neighboring robots...
The human eye collects visual information by means of saccades and fixations. Recent work shows that fixation locations are not arbitrary. On the contrary, they tend to cluster on the salient regions of the scene. Automatic estimation of the number of fixations on an image has uses in many applications and contexts including computer vision (e.g., robot vision, compression, salience estimation) and...
This paper describes a visual odometry algorithm for estimating frame-to-frame camera motion from successive stereo image pairs. The algorithm differs from most visual odometry algorithms in two key respects: (1) it makes no prior assumptions about camera motion, and (2) it operates on dense disparity images computed by a separate stereo algorithm. This algorithm has been tested on many platforms,...
This paper discusses the role of evolutionary computation in visual perception for partner robots. The search of evolutionary computation has many analogies with human visual search. First of all, we discuss the analogies between the evolutionary search and human visual search. Next, we propose the concept of evolutionary robot vision, and a human tracking method based on the evolutionary robot vision...
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