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This paper describes a pedestrian detection method using a LRF and a small omni-view camera. In outdoor environment, the resolutions of LRFs are too low to recognize human reliably, and high resolution image requires high calculation cost for detecting walking persons. We propose a combination approach using these data. Particle filter based tracking and HOG (Histogram of Oriented Gradients) feature...
We investigate the existence of computationally inexpensive first and second order statistics that uniquely describe grass for application in an autonomous lawnmower. We then segment images based on these statistics to determine locations of driveable terrain in an image. Tight statistical clustering of illuminated grass versus artificial texture suggests that this method is sufficient for identifying...
In this paper, to provide a robot with information relative to structure of its environment, we propose a method to recognize types of structural corridor landmarks such as T-junction, L-junction, end of the corridor, using vanishing points-based visual image features and hidden Markov models. Several experimental results are illustrated to demonstrate the validity of the proposed approach in a real...
This paper presents a novel biologically-inspired approach for tackling the problem of robot homing. In our method the only information employed is optical flow. Optical flow, which is not a property of landmarks like colour, shape, and size but a property of the camera motion, is used for localising an autonomous robot in a priori unknown environment. Our method exploits the optical flow `fingerprint'...
In this paper we present a new system for a mobile robot to generate an articulated scene model by analyzing complex dynamic 3D scenes. The system extracts essential knowledge about the foreground, like moving persons, and the background, which consists of all visible static scene parts. In contrast to other 3D reconstruction approaches, we suggest to additionally distinguish between static parts,...
Image-based scene representations enable a mobile robot to make a realistic prediction of its environment. Hence, it is able to rapidly detect changes in its surroundings by comparing a virtual image generated from previously acquired reference images and its current observation. This facilitates attentional control to novel events. However, illumination effects can impair attentional control if the...
The detecting and tracking a specific person by using the image processing with the color camera is often influenced by illumination changes. The proposed robust detecting and tracking method to illumination changes is using the HSV color space and updating the histogram. However, the quantitative evaluating is not enough in the proposed method. In this paper, the robustness to illumination changes...
Formation control experiments are performed using two robots, each equipped with a camera. When both robots are fully informed of the reference velocity, a decentralized feedback control, which achieves the desired relative position and the reference velocity, is experimentally verified. Another adaptive design is implemented in the situation where only one robot has the full reference velocity information...
This manuscript describes an implementation of a system that can adaptively cope with the task of robust colour identification in the domain of robot soccer. The main challenge is to perform this in an environment of changing light conditions and/or cameras used. The camera setup is first characterised using common techniques from colour management with ICC profiles. In a second step current light...
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,...
Miniature air vehicles (MAVs) are often used for low altitude flights where unknown obstacles might be encountered. Path planning and obstacle avoidance for MAVs involve planning a feasible path from an initial state to a goal state while avoiding obstacles in the environment. This paper presents a vision-based local multi-resolution mapping and path planning technique for MAVs using a forward-looking...
Motion blur is a severe problem in images grabbed by legged robots and, in particular, by small humanoid robots. Standard feature extraction and tracking approaches typically fail when applied to sequences of images strongly affected by motion blur. In this paper, we propose a new feature detection and tracking scheme that is robust even to non-uniform motion blur. Furthermore, we developed a framework...
One important feature of a cognitive system is to perceive and understand its environment and to adapt its actions to changes and unforeseen situations. In this paper, we propose a scheme for visual surprise detection in cognitive mobile robots. With the robot's observation and a set of reference images previously acquired near its current viewpoint, a pixel-wise surprise trigger is computed using...
In this project an algorithm to generate a single image of an entire water pipe's inside wall was developed. An Autonomous Underwater Vehicle (AUV) equipped with a fish-eye camera will be deployed to dive through the pipe and take pictures of its inside wall. The algorithm was implemented that maps such pictures to the three dimensional model of the water pipe and based on that, generates the image...
The robot technology is rapidly developing in recent years. In connection with this technology, a robot activity is expected in various places or various environments. Therefore, this study describes 1) how the location of the destination of the robot in real world is measured based on the image obtained by one camera and 2) how the robot is navigated to the destination where a user points out on...
This paper presents an illumination adaptive color object recognition method for robot soccer match. Generally, the colors are identified by referring to the pre-defined bounds for the components of each color. However, it is not an easy work to define non-interfered bounds for different colors, and the bounds are sensitive to illumination conditions. Instead, in this work, different colors are discriminated...
We present an image-based visual servoing controller enabling nonholonomic mobile robots with a fixed pinhole camera to reach and follow a continuous path on the ground. The controller utilizes only a small set of features extracted from the image plane, without using the complete geometric representation of the path. A Lyapunov-based stability analysis is carried out. The performance of the controller...
This paper presents a simultaneous localization and mapping algorithm (SLAM) by using a new 3D sensor namely the photonic mixer devices (PMD). The PMD camera enables 3D image grabbing within a few milliseconds and gives an important impulse in visual 3D sensing. This camera is capable of capturing reliable depth images directly in real-time. The PMD is also compact and affordable, which makes it attractive...
This paper presents a sensor fusion framework that incorporates a monocular vision system, laser range finder and an inertial navigation sensor (INS) for localization of mobile robots and manipulators. The proposed method is particularly useful for applications in which there is a featured wall or floor in proximity to the robots. Examples include unmanned ground vehicles (UGV), unmanned aerial vehicles...
The main task of rescue robots is to locate victims after a disaster such as an earthquake. For this task sensor data is used to localize the robots in their environment, build maps, and mark the victims in the maps. Usually, thermal and color cameras, monitored by a human operator, are used for the detection. Hyperspectral imaging techniques are today used for industrial tasks such as quality control,...
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