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This paper presents a system for classifying images based on Deep Learning and applied in the recognition of traffic signals aiming to increase road safety increased road safety using autonomous and semi-autonomous intelligent robotic vehicles. This Advanced Driver Assistance System (ADAS) is a system created to automate vehicles, but also to help the human drivers to increase safety and the respect...
In this paper a novel approach for navigational path detection problem for the visually impaired was presented. A deep learning model based on state-of-the-art fully convolution neural networks have been proposed that can accurately semantically segment any navigational areas on pixel-wise level in different scenes without any prior assumptions about the environment of the scene such as textures or...
Vision sensors are attractive for autonomous robots because they give huge source of environment information. Obstacle detection is main task in areas of the robotics, vision based works gives the effective performance Image processing such as edge detection techniques are used to make images more effective and methods to implement detection process for increasing the performance of detecting obstacles...
This paper presents a very simple and efficient algorithm to estimate 1, 2 or 3 orthogonal vanishing point(s) on a calibrated image in Manhattan world. Unlike the traditional methods which apply 1, 3, 4, or 6 line(s) to generate vanishing point hypotheses, we propose to use 2 lines to get the first vanishing point v1, then uniformly take sample of the second vanishing point v2 on the great circle...
According to the real condition of the substation inspection robot provided a vision-based navigation control method for substation inspection robot can be run in the complex road environment, with strong anti-interference, implementation of simple, good stability and high precision in this paper. Reasonably plan the inspection paths, enabling robot to full check each device in substation. Robots...
Real-time modeling of the surrounding environment is a key functionality for autonomous navigation. Bird view grid-based approaches have interesting advantages compared to feature-based ones. Methods able to encode occupancy information and to manage perception uncertainty in dynamic environments are quite well known but very few studies have been carried out on encoding semantic information in grids...
In this paper, an image-based segmentation method to improve autonomous robot navigation in the forest is presented. The detection is supported by a filtered image generated from a stereo-based pre-processing which is a byproduct of our obstacles detection system. To cope with the large variability of forest paths, the classifier is dynamically adapted to the current situation and the segmentation...
The development of a fully automated robotic endoscopic steering system has been an active area of research for more than a decade. This paper aims at proposing a hardware-efficient iterative thresholding strategy to locate the lumen region in captured endoscopic images in order to enhance traditional endoscopes with certain degree of autonomy and intelligence. The proposed method is characterized...
Given the trend of more complex tasks that robots should perform, we need to design increasingly robust solutions to perform tasks more efficiently and above all, real-time calculations. One of the most important tasks of a mobile robot is navigating through a room avoiding obstacles with which it may collide. Our contribution is to show how to compute efficiently time-to-contact for avoiding collisions...
It is well-known that the limitation of mobile screen size makes browsing unresponsive webpages boring. This boring browsing phenomenon may cause the users to leave these web pages which could contain the information they seek. Although search engines give guidelines for mobile optimization where all web pages must be compliant with their rules, there still appears some web pages that do not achieve...
For modern websites currently available web page segmentation algorithms are not yet of practical use. This is what is observed from recent studies. In this paper, a Webpage Segmenter Using Block Function Tree has been described as a new approach for web page segmentation. It uses the fact that every block in the webpage plays a specific function that web designer designs the block for this function...
The max-tree is a data structure that represents hierarchically all connected components of an image. It is a powerful structure to perform image processing and analysis tasks. The interactive max-tree visualization tool was the first proposal of an interactive graphical representation for the max-tree, a tool that can be used to navigate, visualize and manipulate the max-tree nodes. In this paper,...
Computer interfaces continue using mouse and keyboard, although the form of human interaction is based primarily on exchange of audiovisual messages generated by the voice and body gestures in general. Because of the importance of gestures in human communication and the possibility for people with limited mobility of the upper limbs, this research focuses on the development of an interface to emulate...
Detecting the ground plane is a prior stage to obstacle avoidance systems for the visually impaired. The ground plane is where the visually impaired can move on. This paper presents an algorithm that help the visually impaired navigate in a fast, safe, reliable and independent way. Using RGB-D scanners, enhanced RANdom SAmple Consensus (RANSAC) algorithm is proposed to eliminate the common RANSAC...
The increasing interest in building autonomous mobile systems makes the detection and recognition of objects in natural environments is a very important and challenging task. In this paper, a vision system to detect objects considering natural environments, able to work on real mobile robot is developed. In the proposed system, the classification method used is Support Vector Machine (SVM) and as...
In large areas of corn, the lane line planning and navigation within the crop rows play a crucial supporting role in intelligent farm machinery operations such as spraying, weeding and testing. Vehicle navigation is mostly by GPS and radar. These two kinds of navigation can't complete the information needed for crop inter-row navigation line segments. Such precision navigation and obstacle avoidance...
In this paper a navigational aid for visually impaired people is presented. The system uses a RGB-D camera to perceive the environment and implements self-localization, obstacle detection and obstacle classification. The novelty of this work is threefold. First, self-localization is performed by means of a novel camera tracking approach that uses both depth and color information. Second, to provide...
The max-tree is a data structure that represents all possible upper thresholds of an image, it has been successfully used in many image processing and analysis applications. The max-tree corresponding to a natural image usually has thousands of nodes, which makes unpractical to build a comprehensive graphical representation of its complete structure. In this paper, we propose a methodology that allows...
Plane detection is one of the frame works to the intelligent navigation of unmanned vehicles. In this article, a Kinect camera is used in the smart navigation field. We segment the RGB image first using a mean-shift algorithm and project three-dimensional point cloud, which is based on depth image, to segmented image. Then we cluster the whole plane area according the characteristics of the three-dimensional...
In this paper, we describe the developed hovering-type AUV called “Cyclops” and discuss characteristics of imaging sonar DIDSON as an tool for AUV application. The Cyclops was designed to perform an advanced mission like object recognition, and its symmetric design enable to maximize the mobility of the vehicle. This hardware structure makes the maintenance of the vehicle fast and convenient. We introduce...
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