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This paper presents a novel solution to the autonomy of a Portable Robotic Device (PRD) for the visually impaired. The proposed method meets the PRD's requirement of providing 3D navigational information with a small-sized device. The proposed approach is to employ a 3D imaging sensor-the SwissRanger SR4000-for both pose estimation and perception. The SR4000 produces both intensity and range images...
Medial descriptions, such as shock graphs, have gained significant momentum in the shape-based object recognition community due to their invariance to translation, rotation, scale and articulation and their ability to cope with moderate amounts of within-class deformation. While they attempt to decompose a shape into a set of parts, this decomposition can suffer from ligature-induced instability....
In this paper, we present a learning procedure called probabilistic boosting network (PBN) for joint real-time object detection and pose estimation. Grounded on the law of total probability, PBN integrates evidence from two building blocks, namely a multiclass boosting classifier for pose estimation and a boosted detection cascade for object detection. By inferring the pose parameter, we avoid the...
This paper presents a new method for simultaneous object tracking and recognition using object image database. This application requires two searches: search for object appearance stored in the database and that for pose parameters (position, scale, orientation, and so on) of the tracking object in each image frame. For simplifying this problem, we propose a new method, pose parameter embedding (PPE)...
Effective self-organization schemes lead to the creation of autonomous and reliable robot teams that can outperform a single, sophisticated robot on several tasks. We present here a novel, vision-based microscopic framework for active and distributed object-recognition and pose-estimation using a team of robots of simple construction. The team performs the task of locating a given object(s) in an...
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