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This paper provides an intuitive way to inference the space of a scene using stereo cameras. We first segmented the ground out of the image by adaptively learning the ground model in the image. We then used the convex hull to approximate the scene space. Objects within the scene can also be detected with the stereo cameras. Finally, we organized the scene space and the objects within the scene into...
In order to estimate landmark direction angle to localize robot in an artificial environment based on omnidirectional image, this paper introduces the method about low pass filter noise elimination, artificial landmark features detection and landmark direction angle estimation algorithms. Landmark feature detection proposed that red landmark pixels beyond the threshold were extracted as a small area...
The work presented here describes a novel vision-based motion detection system for telerobotic operations. The system uses a CCD camera and image processing to detect the motion of a master robot or operator. Color tags are placed on the arm and head of a human operator to detect the up/down, right/left motion of the head as well as the right/left motion of the arm. The motion of the color tags are...
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...
Service robots deployed in domestic environments generally need the capability to deal with articulated objects such as doors and drawers in order to fulfill certain mobile manipulation tasks. This however, requires, that the robots are able to perceive the articulation models of such objects. In this paper, we present an approach for detecting, tracking, and learning articulation models for cabinet...
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,...
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...
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...
In this paper, we propose an approach to the book recognition system where the books on bookshelves are detected and recognized by line segment, MSAC based dominant vanishing point detection, singular value decomposition (SVD) based text recognition and semantic network. Our system can be equipped to robot intelligence to handle some works such as arranging, searching books which had formerly done...
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,...
3D imaging systems provide valuable information for autonomous robot navigation based on landmark detection in pipelines. This paper presents a method for using a time-of-flight (TOF) camera for detection and tracking of pipeline features such as junctions, bends and obstacles. Feature extraction is done by fitting a cylinder to images of the pipeline. Data in captured images appear to take a conic...
Doors are important landmarks for indoor mobile robot navigation. Most existing algorithms for door detection use range sensors or work in limited environments because of restricted assumptions about color, pose, or lighting. We present a vision-based door detection algorithm that achieves robustness by utilizing a variety of features, including color, texture, and intensity edges. We introduce two...
A markerless multiple-camera vision-based 3D human tracking method for industrial environments is presented. The method can track humans in the vicinity of moving robots without using skin color cues or articulated human models. It is robust to self-occlusions and to partial occlusions caused by the robot. Foreground pixels corresponding to humans are found by background subtraction. A convex polyhedron...
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