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This paper presents a method of binocular vision obstacle detection based on SIFT feature matching algorithm. First, a model of depth measurement based on stereo vision is built, it does not require resume the three-dimensional coordinate of spatial point under the world coordinate system. According to the characteristics of the model, we proposed the binocular stereo vision calibration method based...
Many different interest point detectors have been proposed with a wide range of definitions for what points in an image are interesting. Corner points are interesting as they are formed from two or more edges and usually define the boundary between two different objects or parts of the same object. Interest points are generally more abundant in real images than straight edges and are considered to...
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 presents a modular software architecture based on a stereo camera system that makes real-time 3D perception, interaction and navigation for small humanoid robots possible. The hardware-independent architecture can be used for several purposes, like 3D visualisation, object recognition, self-localization, collision avoidance, etc. First of all, the intrinsic calibration parameters of the...
A robotic vision system has been designed and analyzed for real time tracking of maneuvering objects. Passive detection using live TV images provides the tracking signals derived from the video data. The calibration and orientation of two cameras is done by a bundle adjustment technique. The target location algorithm determines the centroid coordinates of the target in the image plane and relates...
The recognition and localization of objects in space is of fundamental interest in many robot vision applications, especially in those that are supposed to provide services to human beings. The trivial example of any such task is manipulation, i.e., providing a robot the means of handling objects. In this work, we discuss the chances and the problems experienced when using a time-of-flight camera...
Today, real-time collision detection is a basic demand for many applications. While collision tests between known (modeled) objects have been around for quite a while, collision detection of known objects with dynamic, unknown (sensor-detected) objects remains a challenging field of research, especially when it comes to real-time requirements. The collision test described in this paper is based on...
Vision-based tracking is used in nearly all robotic laboratories for monitoring and extracting of agent positions, orientations, and trajectories. However, there is currently no accepted standard software solution available, so many research groups resort to developing and using their own custom software. In this paper, we present version 4 of SwisTrack, an open source project for simultaneous tracking...
On the robot soccer field it is important to know where the camera is positioned to correct for parallax offsets resulting from the height of the robots. This paper demonstrates a novel method of estimating the camera position purely from the image of the robot soccer field. The principle is to back project the parallax resulting from the walls of the field. The lateral position of the camera may...
In this paper, chess-type plane is used as calibration patterns, and the camera is calibrated by utilizing linear camera model with sub-pixel precision, we propose an improved algorithm used to locate the position with the visual information. The new method is based on improved SUSAN detecting and is combined with quick image matching which is used to get the coordinates of the end executor of the...
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