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Marine aquaculture is deeply rooted in Norwegian national economics and traditions, especially in the M⊘re og Romsdal region. This paper presents the development of a novel ROV for aquaculture inspection in marine application to provide first-hand information in fishery nets. The ROV is a part of so called “Sea Farm” project. When the ROV doesnot work, it will be carried by a floating platform. A...
Vision is a potent source of information, not just for humans, but for robots as well. Processing visual information is a computationally expensive task, one that is often difficult to accomplish in real-time on embedded hardware. In the broad field of visual research exists egomotion estimation, the process of determining self-motion from optical flow. Here we show a technological adaptation and...
We present a fully integrated autonomous multirobot aerial system for finding and collecting moving and static objects with unknown locations. This task addresses multiple relevant problems in search and rescue (SAR) robotics such as multi-agent aerial exploration, object detection and tracking, and aerial gripping. Usually, the community tackles these problems individually but the integration into...
This paper proposes a method for visual pose stabilization of Fotokite, a tethered small unmanned aerial system, using a forward facing monocular camera. Conventionally, Fotokite stabilizes itself only relative to its tether and not relative to the global frame. It is, therefore, susceptible to environmental disturbances (especially wind) or motion of its ground station. Related work proposed visual...
This paper proposes a scheme for observing cooperative Unmanned Surface Vehicles (USV), using a rotorcraft Unmanned Aerial Vehicle (UAV) with camera movements (tilt and yaw) prioritized over UAV movements. Most of the current researches consider a fixed-wing type UAV for surveillance of multiple moving targets (MMT), whose functionality is limited to just UAV movements. Experiments in simulation are...
In the geological exploration of the Adit, the texture, section, joint and other rock structural information are important factors to determine the stability of the Adit. Therefore, the collection and analysis of rock data information are the premise work and the key process of the safe production. Faced with the actual requirements of Adit 3D reconstruction, an automatic 3D reconstruction system...
This work presents a video-based sequence synchronization algorithm to be used in real-time video surveillance applications. The signals are aligned based on an online dynamic time warping approach that uses only video content information. The algorithm was tested in the alignment of reference and target videos acquired in a cluttered industrial environment with a moving camera. During each recording,...
Our goal is to automatically detect which direction a child is facing based on a single, simple overhead picture, and track that direction across time. Engaging in joint attention, which is the shared focus of two individuals on some object of interest, is a strong cue of typically developing children, and the lack thereof can be an indicator of autism spectrum disorder or other pervasive developmental...
In this work, we propose a new multi-color recognition method based on color constancy model, and present a realtime machine vision-based auto-sorting system corresponding to academic and industrial needs. The proposed color constancy computation method is computed by neighborhood contrast, and furthermore the relationship between the object color and the color constancy parameters is established...
Image-guided navigation is an important component of the orthognathic assisted robot, and it allows the robots to operate in precise accordance with a preoperative virtual plan. However, the present commercially available image-guided navigation systems, which use infrared-based tracking, cant guide the relocation of the bone in the orthognathic operation, that means they are not suitable for orthognathic...
Clothes are very important for daily life. We always wash, dry, and fold them for maintenance of clothes. Washing and drying were already automated. However, folding isn't automated. Automation of folding clothes is expected for not only industry, but also home use. Unfortunately, folding system for home use is not perfect yet. A folding system is implement with normal table and small mobile robots...
The ability to identify, follow, approach, and intercept a non-stationary target is a desirable capability of autonomous micro aerial vehicles (MAV) and puts high demands on reliable target perception, fast trajectory planning, and stable control. We present a fully autonomous MAV that lands on a planar platform mounted on a ground vehicle, relying only on onboard sensing and computing. We evaluate...
This paper presents an implementation of a system that is autonomously able to find, follow and land on a car moving at 15 km/h. Our solution consists of two parts, the image processing for fast onboard detection of landing platform and the Model Predictive Control tracker for trajectory planning and control. This approach is fully autonomous using only the onboard computer and onboard sensors with...
This paper describes a preliminary development to an automatic tennis ball collecting machine. The framework adopts a roller to collect tennis balls when moving. Tennis balls are detected and tracked automatically by computer vision while hardware acceleration is used to improve efficiency. For navigation, fuzzy control and 6 ultrasonic sensors are used to avoid obstacles when approaching the targets...
In this paper, we present an approach for detecting, recognizing and tracking varying number of objects through both have similarity shape and colors. The objects tracking is the varying notes of Indonesian traditional instrument called “gambang”. Our method build an idea how to recognize well the notes and classify each objects in real time tracking. The houghlines standard method is used to search...
India is primarily an agriculture-based country and its economy largely depends upon the agriculture. But, most of the crops grown by the farmer are affected by weeds. Weed identification and control remains one of the most challenging tasks in agriculture. The most widely used methods for weed control is manual spraying of herbicides. But, this method has several negative impacts. Since hand labor...
Military vehicles are important part to maintain territories of a country. Military vehicle is often equipped with a gun turret mounted on top of the vehicle. Traditionally, gun turret is operated manually by an operator sitting on the vehicle. With the advance of current robotic technology an automatic operation of gun turret is highly possible. Notable works on automatic gun turret tend to use features...
Object detection and tracking system has been developed by several researchers. This paper present algorithm for visual ball detection and ball estimation for goalie (goalkeeper) robot. The ball is captured by a camera with a fish-eye lens and processed for detection and tracking. Images from fish-eye camera are curved images. Images are thresholded to Hue Saturation Value (HSV). The system can predict...
Affective facial expression is a key feature of nonverbal behaviour and is considered as a symptom of an internal emotional state. Emotion recognition plays an important role in social communication: human-to-human and also for human-to-robot. Taking this as inspiration, this work aims at the development of a framework able to recognise human emotions through facial expression for human-robot interaction...
Reaction time and response time have been successfully measured in laboratory settings. As robots move into the real-world, such metrics are needed for human-robot team deployments when evaluating interaction naturalness, ability to maintain safety, and task performance. Potential real-world reaction and response time metrics for peer-based teams are presented. Primary and secondary task reaction...
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