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A novel structural and statistical approach for model-based visual object recognition using geometric radiance saliencies is presented. The approach acquires accurate high dynamic range images to properly capture complex heterogeneously lighted scenes. Based on these images, the receptive radiance saliency is computed through a Gabor kernel set. This oriented saliency is used to extract and refine...
Stereo vision and hand-eye calibration is one of the most important and fundamental tasks in visually guided robotic control tasks. The work presented in this paper aims to develop an accurate camera based stereo vision and hand-eye calibration algorithm that is robust enough to be used in a robotic arc welding system. The proposed calibration method allows the object reference frame to be directly...
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...
Multi-camera systems are used in many domains such as vision-based robotics or video surveillance. An accurate extrinsic calibration is usually required. In most of cases, this task is done by matching features through different views of the same scene. However, if the cameras' fields of view do not overlap, such a matching procedure is not feasible anymore. Despite this constraint, this article deals...
Many applications for mobile robot authentication require to be able to explore a large field of view with high resolution. The proposed vision system is composed of a catadioptric sensor for full range monitoring and a pan tilt zoom (PTZ) camera leading to an innovative sensor, able to detect and track any moving objects at a higher zoom level. In our application, the catadioptric sensor is calibrated...
This paper addresses the problem of tracking a planar region of the scene using an uncalibrated omnidirectional camera. Omnidirectional cameras are a popular choice of visual sensors in robotics because the large field of view is well adapted to motion estimation and obstacle avoidance. The novelty of this work resides in simplifying the calibration phase by providing a direct approach to tracking...
Human-robot interaction approaches like face detection, face recognition, pedestrian detection are widely known in robotics field; however often they lead to performance problems. Additionally, false positive and false negative problems are commonly associated to bad illumination and strong featured images. Moreover background segmentation approaches are frequently used to solve this problem on static...
This paper presents a novel camera calibration method for a system consists of a sensor-less mobile robot and an external camera. This method can estimate the focal length and the viewing direction of the camera relative to a plane where the sensor-less mobile robot moves from a single image of an arbitrary circle on that plane. Since it is easy to let a four-wheel mobile car to move along a circular...
Omnidirectional cameras are a popular choice of visual sensors in robotics because their large field of view is well suited for motion estimation and obstacle avoidance. However their practical use is often burdened by the calibration phase that can be time consuming and require an experienced user. The contribution of this work is a simplification of calibration phase by providing a direct approach...
Micro-biomanipulations rely on fine motion control and precise tool positioning for the execution of delicate operations on biological structures. Appropriate control is typically enabled by the use of micromanipulators; however, manual execution of biomanipulations is difficult, requiring extensive operator training (up to one year) and meticulous work under fatiguing conditions. Automation can be...
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,...
Camera calibration is a key technology in computer vision field. Many kinds of distortions are existed in ordinary CCD camera. Among these distortions the radial distortion is more serious. A camera self-calibration algorithm based on active vision taking account of one-degree radial distortion is proposed in this paper in order to make the calibration more quickly effective and accurate. Based on...
In this paper, we have achieved kinematic calibration of the purely translational Orthopod parallel mechanism via a flexible measuring system, which is based on Costar SI-M350 CCD camera with TEC-M12 lens. We first identify intrinsic parameters of the camera and the camera calibration result is verified using a simple yet practical experiment. Then we perform manipulator calibration using its inverse...
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...
In this paper we describe and experimentally evaluate how to model, control, and use the capabilities of a humanoid visual system with foveated vision. We present a computational process that can be utilized to identify and update the parameters of the robot's eyes under motion, which enables the use of 3D vision on an active humanoid head. We also derive the formulas expressing the geometry of our...
Personalized localization, navigation and navigation assistance are key issues for almost all aspects of future mobility. We use therefore the SegIT transporter, a new mobile platform based on a Segway Personal Transporter. It is equipped with an onboard video, time-of-flight image and navigation data processing system providing safety and comfort assistance during indoor and outdoor usage. The SegIT...
This paper proposes a scheme for a 3D metric reconstruction of the environment of a mobile robot. We first introduce the advantages of a catadioptric stereovision sensor for autonomous navigation and how we have designed it with respect to the Single Viewpoint constraint. For applications such as path generation, the robot needs a metric reconstruction of its environment, so calibration of the sensor...
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...
We present the embedded vision system used in the four-legged league which is one of the official leagues in Robocup competition. This vision system runs at frame rate in AIBO robots, while detecting colour coded objects and field line features. The detection of field line features is becoming necessary because RoboCuppsilas rules change year after year in order to push progress toward real soccer...
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