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In this paper a new stereo vision method is presented that combines the use of a lightness-invariant pixel dissimilarity measure within a dynamic programming depth estimation framework. This method uses concepts such as the proper projection of the HSL colorspace for lightness tolerance, as well as the Gestalt-based adaptive support weight aggregation and a dynamic programming optimization scheme...
In this paper we present a new system for a mobile robot to generate an articulated scene model by analyzing complex dynamic 3D scenes. The system extracts essential knowledge about the foreground, like moving persons, and the background, which consists of all visible static scene parts. In contrast to other 3D reconstruction approaches, we suggest to additionally distinguish between static parts,...
The iterative closest points (ICP) algorithm is widely used for ego-motion estimation in robotics, but subject to bias in the presence of outliers. We propose a random sample consensus (RANSAC) based algorithm to simultaneously achieving robust and realtime ego-motion estimation, and multi-scale segmentation in environments with rapid changes. Instead of directly sampling on measurements, RANSAC matching...
This paper addresses the problem of real-time moving-object detection, classification and tracking in populated and dynamic environments. In this scenario, a mobile robot uses 2D laser range data to recognize, track and avoid moving targets. Most previous approaches either rely on pre-defined data features or off-line training of a classifier for specific data sets, thus eliminating the possibility...
This paper presents a method for detecting people from images taken with a camera mounted on a robot. The purpose of the detection is avoiding people collision while robot is moving within an unknown environment. It combines two algorithms for this purpose. First, the appearance of people is learned using a set of Haar-like features and the Adaboost algorithm. This information is embedded by building...
Nowadays, mobile robots work under the dynamic environments like manufacturing industries with machinery parts as moving objects and are using many techniques for navigation, obstacle avoidance, and localization. In this work we are using pioneer 2 DX mobile robot for experiments. This paper focuses on development of algorithms with the integration of path planning by potential field method and Monte...
This paper describes the path planning for the mobile robots, based on the Markov decision problems and the detection of dynamic objects using stereo-vision. The presented algorithms are developed for resolving problems with partially observable states. The algorithm is applied in an office environment and tested with a skid-steered robot. The created map combines two mapping theory, the topological...
Many collision detection methods exist, each specialized for certain data types under certain constraints. In order to enable rapid development of efficient collision detection procedures, we propose an extensible software architecture that allows for cross-queries between data types, while permitting the time and memory optimizations needed for high-performance. By decomposing collision detection...
This paper presents an illumination compensation method for images under variable lighting condition. The algorithm consists of two processes. First, the camera response function is identified as a nonlinear model of the camera under dynamic illumination. Then an image with a wider dynamic range is obtained online by fusing several images taken under different exposures of the same scene. The algorithm...
This paper describes a visual odometry algorithm for estimating frame-to-frame camera motion from successive stereo image pairs. The algorithm differs from most visual odometry algorithms in two key respects: (1) it makes no prior assumptions about camera motion, and (2) it operates on dense disparity images computed by a separate stereo algorithm. This algorithm has been tested on many platforms,...
In order to achieve the expected goal accurately, detecting of road region and obstacle, self-organization and planning autonomously and dynamical avoidance are key technologies during the course. For improvement of dynamic obstacle avoidance of autonomous mobile robots, a kind of real-time avoiding-obstacle algorithm via binocular stereovision is addressed, it takes advantage of visual principle...
This paper discusses the role of evolutionary computation in visual perception for partner robots. The search of evolutionary computation has many analogies with human visual search. First of all, we discuss the analogies between the evolutionary search and human visual search. Next, we propose the concept of evolutionary robot vision, and a human tracking method based on the evolutionary robot vision...
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