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An intelligent robotic living assistive system has become a popular research in the last decade. One of the important topics in that research area is 3D object reconstruction from multiple views. This process may depend on motion estimation using vision. However, often a domestic robot on an electric wheel chair has to move in a steep rotational angle that causes motion estimation from vision to become...
In this paper, a full 3D reconstruction pipeline is presented to realize the navigation of an autonomous robot. The system utilizes the existing algorithms for multi-view stereo and develops them into an automated system where the input is a video (or random images) obtained by the robot and the output is the model of the reconstructed environment containing the path of the robot exploring it. We...
In this paper, an overview of stereo vision, stereo image processing is introduced as well as a method of obstacle avoidance and navigation based on stereo vision for mobile robot is provided. Making use of 3-d stereo reconstruction, the recognition of visible terrain in front of the mobile robot is solved for successive obstacle avoidance. The area-based stereo reconstruction algorithm which combines...
This paper presented the application of stereo vision system for robot arm guidance application. The stereo vision system comprises the process of camera calibration, image rectification, stereo correspondences and 3D reconstruction. Camera calibration process was carried out to permit the extraction of camera intrinsic and extrinsic parameters for the image rectification purposes. Next, the image...
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...
This paper uses Bumblebee stereo vision system to reconstruct the 3D terrain for patrol robot. Firstly, with the selected points in the disparity image, the ground plane equation of the current frame is calculated by the RANSAC (Random Sample Consensus) algorithm, and then estimated and predicted by the Kalman filter. Secondly, the elevation image is obtained through the distance between the obstacle...
This paper is concerned with the visual servoing of a mobile robot in dynamic environments. We assume a target with maneuvering capabilities, and thus it can be hidden from the camera by the obstacles in the scene. These two problems must be taken into account in the control law to ensure correct servoing. The control law must consider the target movement to reduce tracking error as small as possible...
3D reconstruction is the essential part of robots' autonomous navigation. 3D reconstruction method based on hierarchical level projection of virtual height line (PVHL) is proposed. Unlike traditional method, the proposed method could reconstruct 3D scene independent with the dense disparity map. At first we partitioned the interesting scope uniformly into grid with a certain size, and introduced virtual...
This paper presents a method for the automatic observation of unknown objects. We aim at finding the position of the targeted object and at capturing multiple views of its shape using a single eye-in-hand camera. The main goal is modeling the unknown object via 3D reconstruction before grasping and manipulating it with a robot hand. The proposed method built over a visual servo loop uses simple features...
We address the problem of vehicle (mobile robot) navigation by combining visual-based reconstruction and localization with metrical information given by the proprioceptive sensors such as the odometry sensor. The proposed approach extends the navigation system based on a monocular vision which is able to build a map and localize the vehicle in the real time way using only one camera. An extended Kalman...
For successful deployment, personal robots must adapt to ever-changing indoor environments. While dealing with novel objects is a largely unsolved challenge in AI, it is easy for people. In this paper we present a framework for robot supervision through Amazon Mechanical Turk. Unlike traditional models of teleoperation, people provide semantic information about the world and subjective judgements...
Time-of-Flight (ToF) cameras gain depth information by emitting amplitude-modulated near-infrared light and measuring the phase shift between the emitted and the reflected signal. The phase shift is proportional to the object's distance modulo the wavelength of the modulation frequency. This results in a distance ambiguity. Distances larger than the wavelength are wrapped into the sensor's non-ambiguity...
The ability to recognize objects and to localize them precisely is essential in all service robotic applications. One of the main challenges for service robots during operation lies in the handling of unavoidable uncertainties which originate from model and sensor inaccuracies and are characteristic for realistic application scenarios. Robustness under real world conditions can only be achieved when...
When planning robotic grasping and manipulation maneuvers, knowledge of the shape and pose of the object of interest is critical information. In order for an autonomous or semi-autonomous system to operate intelligently in an unstructured environment and interact with novel objects, it must have the ability to recover this information at run time, even when no a priori information of the object is...
Recently, a unified camera model has been introduced in visual control systems in order to describe through a unique mathematical model conventional perspective cameras, fisheye cameras, and catadioptric systems. In this paper, a path-planning strategy for visual servoing is proposed for any camera obeying this unified model. The proposed strategy is based on the projection onto a virtual plane of...
Visual maps of the seafloor should ideally provide the ability to measure individual features of interest in real units. Two-dimensional photomosaics cannot provide this capability without making assumptions that often fail over 3-D terrain, and are generally used for visualization, but not for measurement. Full 3-D structure can be recovered using stereo vision, structure from motion (SFM), or simultaneous...
Response to the demand of autonomous obstacle avoidance for mobile robot during operation, a obstacle avoidance system based on binocular stereo vision for mobile robot is developed. The system was developed with Matlab and stereo vision software “the Point Grey's Triclops SDK library”. With the techniques of camera calibration, stereo image matching, three-dimensional reconstruction, the three-dimensional...
In this paper we present a multi-camera system, which serves as the primary vision apparatus for a ceiling based swinging service robotic platform. To facilitate a smooth and unimpeded movement of the swinging platform the knowledge of the working environment is essential. To this end we examine the 3D scene reconstruction by concurrent multiple views from the distinct cameras located at the upper...
Wide field of view 3-D scanners are strategic in many contexts, above all, infrastructure inspection and vehicle/robot automatic motion. In this paper we present a patented sensor able to recover three-dimensional data and perform an omnidirectional highly accurate environmental reconstruction, mainly focusing on a design strategy for setting up the geometric parameters. Performance of a prototypal...
This paper describes a 3D shape reconstruction method using vision sensors targeted at domestic robotics applications. We propose a new method to fuse stereo disparity map and Shape from “Silhouette” (SFS). What we mean by silhouette in this paper is different from the existing silhouette definition. The silhouette here is not obtained from back projecting the object contour to the image plane but...
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