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This conceptual paper examines the computer identification of signs called day markers that commonly appear for navigation purposes in a marine channel waterway. Most people are familiar with these signs when navigating in a boat as they appear either as red triangles, green rectangles or diamonds since they aid navigation through the channel. The paper focuses on a proposed classifier using Procrustes...
We present a behavioral approach for autonomous robotic exploration of marine habitat with collision avoidance given little or no prior information. In our previous work, a vision-based reactive navigation paradigm with a predefined forward direction allowed an underwater robot to avoid unexpected obstacles. In this work, we have now incorporated visual perceptive invariants to guide the navigation...
Autonomous control of Flapping Wing Vehicles (FWVs) through sophisticated software units is challenging due to its inherent complex motion characteristics. This article emphasize on the development of graphical user interface (GUI) for the control of FWVs to achieve superior maneuverability. A vision based computer control interface is developed for manual as well as autonomous performance of FWVs...
Our aim is to automatically detect the road borders in a road scene image. This is useful to many road scenes analysis applications, in both fields of vehicle guidance and civil engineering. Difficulties arise because pavements are often heterogeneous and because illumination variations often occur in outdoor scenes. Some vehicle navigation projects use colour images for road borders detection [1,...
This research addresses the problem of navigating a robotic vehicle autonomously on unstructured roads where road information is not accurate. A real-time system for finding and tracking unstructured road in off-road conditions is proposed. The subsystems of autonomous navigation — road detection, steering, and obstacle avoidance are discussed in detail. This method has been integrated into a vehicle...
In this paper an efficient crop row detection method is proposed for vision-based navigation for agriculture robots. In the proposed method, no low level features (such as edges and middle lines of the images) are needed. So the complex algorithms for edging and matching (e.g. the Hough transform) are avoided, which greatly saves the computation loads. Instead, a flexible quadrangle is defined to...
Visual navigation is an important research field in robotics due to low cost of cameras and the good results that these systems usually achieve. This paper presents monocular and stereo vision-based detection methods. The obstacles are detected and fused through the Dempster-Shafer theory for generating a cloud of points that contains the probability of the existence of obstacles in the environment...
In task executing it is necessary to make decisions. Very often decisions depend on special conditions and circumstances. A decision support may be helpful if the best choice search is based on a multidimensional space of possibilities. In geospatial based applications positioning and localization are essential criteria for most ongoing decisions. Where are you and where do you want to go? The general...
In recent years, intelligent traffic system (ITS) and telematics system have become a popular issue for traffic safety, convenience and efficiency. The real-time and historical traffic and other roadside information is very helpful information and can be analyzed to give good telematics services and traffic controlling, such as navigation, traffic flow, weather, traffic prediction and so on. This...
Colour Stereo visions are the primary perception system of the most Unmanned Ground Vehicles (UGVs), which can provide not only 3D perception of the terrain but also its colour and texture information. The downside with present stereo vision technologies and processing algorithms is that they are limited by the cameras' field of view and maximum range, which causes the vehicles to get caught in cul-de-sacs...
There are several approaches for 3 dimensional mapping of the seafloor in the actual colours, many of which require multiple cameras, elaborate algorithms and specially designed vehicles. In this paper a method is presented, which uses minimal equipment and simple algorithms for this task, while treating the data in a fully 3 dimensional way from input to output. Because of the reduced hardware demands,...
In this paper, a review of visual guidance systemsof autonomous vehicle is presented. The challenges of autonomous navigation in rainforest or tropical terrain are highlighted. There are several methods used in navigation system of the autonomous vehicle and it is shown that vision system remains a key-enabling component for successful navigation system. Color feature is used to examine the general...
Object tracking using vision technology is one of the key but complex functions in navigation system of Intelligent Vehicles; it became more difficult in case of there are partial occlusions and significant clutter. A mean shift embedded approach is presents for vehicle tracking under real road scenes. The HSI model and orientation histogram are used to represent the object feature; the mean shift...
Object tracking using vision technology is one of the important and complex functions in computer vision. It should become more challenge in case of there are partial occlusions and significant clutter. A mean shift procedure embedded approach for vehicle and pedestrian tracking under real road scenes is presents. A combined hue and saturation of HSI color model and local orientation information are...
The implications of bandwidth allocation are described for teleoperation in a military task that involved navigation, target detection, and target identification. Color versus grayscale imagery was manipulated. Participants themselves traded off resolution and frame rate settings. Participants minimized switching between resolution/frame rate settings and tended to use settings with high resolution/low...
This paper describes the autonomous ground vehicle developed by researchers at the University of Florida that participated in the 2007 DARPA Urban Challenge. Specifically, this paper introduces LADAR based terrain evaluation algorithms for an urban environments as well as off road. The terrain evaluation algorithm is very important for safe driving at high speed. On the real road, the driver is faced...
The Naval Oceanographie Office collects subbottom acoustic data using the Remote Environmental Monitoring Units (REMUS) Autonomous Underwater Vehicle (AUV). The subbottom data are processed using customized playback software that creates a subbottom profile image that can be integrated into ArcGIS 9.2. A REMUS AUV test survey was recently completed that obtained quality subbottom profiler data that...
The target recognition, beacon tracking and object localization based on omni-directional vision (omni-vision) system are introduced in this paper. The development of omni-vision appears to have definite advantages for the performance of the mobile systems and real time control. We use a fisheye lens with the view angle of 185deg to build the omnidirectional vision system. A prototype of the unique...
We have developed a browsing tool for visualizing information about geographic surfaces using map-based augmented reality (AR). Map-based AR technology enables virtual objects to be overlaid on an actual map, creating a tangible user interface. In map-based AR applications, a virtual lens pointer is often used for object selection. However, this type of interaction is difficult when there are many...
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