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This paper discusses a perceptual system for intelligent robots. Robots should be able to perceive environments flexibly enough to realize intelligent behavior. We focus on a perceptual system based on the perceiving-acting cycle discussed in ecological psychology. The perceptual system we have proposed consists of a retinal model and a spiking-neural network realizing the perceiving-acting cycle...
In service robot applications, tracking and visual servoing are essential to find objects and position the end-effector of a robot to manipulate an object. In this paper, we propose a high-speed object tracking method based on a window approach and a local feature descriptor, SURF (Speeded-Up Robust Features). The visual servo controller uses geometrical features that are computed directly from the...
This paper presents a novel fire detection device in the highly complicated urban environment, such as an office building, supermarket, school, etc. A robot for fire detecting and/or search and rescue needs to move fast while searching wide area. For this, we had developed an thermal image camera module which is capable of selectively acquiring very large field of view (FOV) - panoramic view - images...
This study develops immersive user interface system for construction robotic system by using augmented reality system. Unlike the traditional interface using a monitor view only, the AR interface system in this paper allows the operator to see the invisible eyesight out of camera view by using a virtual 3D model. The operator can control the camera view, and the images of 3D models are changed as...
In this paper, we propose the components and an effective integrated development environment (IDE) of an Open software Platform for Robotic Services (OPRoS) that covers from the control of H/W devices to the execution of complicated application programs. Standardized components with data, service, and event ports are offered for developing robot S/W applications easily and efficiently by just combining...
The major goal of research regarding mobile service robotics is to enable a robot to assist human beings in their everyday life. This implies that the robot will have to deal with everyday life environments. One of the most important steps towards able service robots is to enhance the ability to operate well in unstructured living environments. In this paper we focus on the integration of object recognition,...
In this paper, we present a multi-view single camera and a novel model of scale and illumination invariant corner detection for a service robot in indoor environment. Vision-based simultaneous localization and mapping (VSLAM) has received much attention. It is used for VSLAM that are single cameras, multiple cameras in a stereo setup or omni-directional cameras. We propose a different approach which...
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