The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Marine robotics is a rapidly growing field, with applications of both Autonomous Underwater Vehicles (AUV) and Autonomous Surface Vehicles (ASV) becoming extensive and within reach for many people. Presented is a low-cost design for an ASV, focusing on the ability for the average person with only little mechanical and electrical skills to assemble. The ASV also incorporates a winch into its design,...
A variety of end-user devices involving keypoint-based mapping systems are about to hit the market e.g. as part of smartphones, cars, robotic platforms, or virtual and augmented reality applications. Thus, the generated map data requires automated evaluation procedures that do not require experienced personnel or ground truth knowledge of the underlying environment. A particularly important question...
Scene understanding is a crucial requirement for robot navigation. Conditional Random Fields (CRF) are commonly used to solve the scene labelling problem since they represent contextual information efficiently and provide efficient inference methods. However, when a robot navigates through an unknown environment, it is often necessary to adjust the parameters of the CRF online to maintain the same...
In this paper, we describe an voice recognition control technology for Mobile robot system which can robustly recognize voice by adults and children in noisy environments. We evaluate the performance of robot control system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. To suppress interference and noise and to attenuate reverberation, we...
We present an evaluation of standard image features in the context of long-term visual teach-and-repeat mobile robot navigation, where the environment exhibits significant changes in appearance caused by seasonal weather variations and daily illumination changes. We argue that in the given long-term scenario, the viewpoint, scale and rotation invariance of the standard feature extractors is less important...
Mapping evolving environments requires an update mechanism to efficiently deal with dynamic objects. In this context, we propose a new approach to update maps pertaining to large-scale dynamic environments with semantics. While previous works mainly rely on large amount of observations, the proposed framework is able to build a stable representation with only two observations of the environment. To...
Navigation in large scale environments is challenging because it requires accurate local map and global relocation ability. We present a new hybrid metric-topological-semantic map structure, called MTS-map, that allows a fine metric-based navigation and fast coarse query-based localisation. It consists of local sub-maps connected through two topological layers at metric and semantic levels. Semantic...
The capability to instantiate a cooperation among heterogeneous agents is a fundamental feature in mobile robotics. In this paper we focus on the interaction between Unmanned Ground Vehicle (UGV) and Unmanned Aerial Vehicle (UAV) to extend the endurance of UAV, thanks to a novel landing/recharging platform. The UGV acts as a docking station and hosts the UAV during the indoor/outdoor transition and...
We present a monocular vision-based navigation system that incorporates two contrasting approaches: region segmentation that computes the road appearance, and road boundary detection that estimates the road shape. The former approach segments the image into multiple regions, then selects and tracks the most likely road appearance. On the other hand, the latter detects the vanishing point and road...
This paper presents a novel formation control technique of a group of differentially driven wheeled mobile robots employing artificial potential field based navigation and leader-follower formation control scheme. In the proposed method, the leader robot of the group determines its path of navigation by an artificial potential field and the other robots in the group follow the leader maintaining a...
Robot navigation has been a hot topic in the area of mobile robot. A lot of research has been undergone ranging from noble algorithms to applications. Fisheye image has wide angle View and it is easy to obtain the position of the object and keep it in vision within large scale, so it is an important research domain in robot navigation. However it has a disadvantage that the image obtained from fisheye...
In the last decades, tremendous progress has been made in the field of autonomous indoor navigation for mobile robots. However, these approaches assume the structural part of the environment to be completely static. In practice, movable parts of scenes, e.g. doors, frequently violate this assumption which leads to poor performance. Also, mobile manipulation capabilities can only be utilized, if the...
This paper presents a saliency-based solution to boost trail detection. The proposed model builds on the empirical observation that trails are usually conspicuous structures in natural environments. This hypothesis is confirmed by the experimental results, where a strong positive correlation between trail location and visual saliency has been observed. These results are due in part to the proposed...
Most large-scale public environments provide direction signs to facilitate the orientation for humans and to find their way to a goal location in the environment. Thus, for a robot operating in the same environment, it would be beneficial to interpret such signs correctly for a safe and efficient navigation. In this work, we propose a novel approach to infer the meaning of direction signs and to use...
Scan matching techniques have been widely used to compute the displacement of robots. This estimate is part of many algorithms addressing navigation and mapping. This paper addresses the scan matching problem in three dimensional workspaces. We propose an generalization of the Metric based Iterative Closest Point (MbICP) to the 3D case. The main contribution is the development of all the mathematical...
We present an implementation of the Speeded Up Robust Features (SURF) on a Field Programmable Gate Array (FPGA). The SURF algorithm extracts salient points from image and computes descriptors of their surroundings that are invariant to scale, rotation and illumination changes. The interest point detection and feature descriptor extraction algorithm is often used as the first stage in autonomous robot...
We propose a view-based indoor/outdoor navigation method as an extension of the view-sequence navigation. The original view-sequence navigation method uses the template matching method with normalized correlation for localization. Because the matching method is sensitive to local illumination changes, it is only used for indoor environment. In this paper, we propose to adopt the accumulated block...
Automatic car navigation systems have been used to guide humans or even automatically route them in roads with sufficient a security and correctness. Landmark based car navigation is a widely used technique for automotive and robot navigation. Wireless landmarks have some key features such as robustness and simple detection that make them suitable for automotive navigation. In this paper, a lightweight...
In the autonomous city explorer (ACE) project a mobile robot is developed, which is capable of finding its way to a given destination in an unknown urban environment. An exemplary mission is to find the way from our institute to the Marienplatz, a public place in the center of Munich, without any prior knowledge or GPS information. Inspired by the behavior of humans in unknown environments, ACE must...
Most of the modern intelligent mobile devices such as intelligent vehicles or robots rely on sensor fusion to perceive the environment and make the decision on direction by traditional maximum likelihood (ML) criterion and possible direct decision feedback. To optimally fuse the sensor observation, we propose a novel approach called decision-prediction fusion (DP fusion). It further includes the previous...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.