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Training home robots to behave like human can help people with their daily chores and repetitive tasks. In this paper, we present Imirok, a system to remotely control robotic arms by user motion using low-cost, off-the-shelf mobile devices and webcam. The motion tracking algorithm detects user motion in real time, without classifier training or predefined action sets. Experimental results show that...
The paper reports the control way of visual tracking to a fast moving target with using an active binocular robot. The robot consists of a pair of active cameras and performs as a stereo vision system. The motions of those cameras are controlled independently and achieve rigid visual tracking respectively. The difficulty of visual tracking to a fast target is to suppress the tracking delay, affected...
Vision based simultaneous localization and mapping (SLAM) has recently received much research interest. However, vision based SLAM could be corrupted with the inclusion of moving entities, which makes it hard to operate in dynamic environments. Simultaneous localization, mapping and moving object tracking (SLAMMOT) serves as a solution to deal with moving objects while performing SLAM. The existing...
In this paper we present a novel system for real-time, six degree of freedom visual simultaneous localization and mapping using a stereo camera as the only sensor. The system makes extensive use of parallelism both on the graphics processor and through multiple CPU threads. Working together these threads achieve real-time feature tracking, visual odometry, loop detection and global map correction...
This paper presents an upper body tracking algorithm with a single monocular camera. In order to be suitable for human robot interaction, the designed method should be free to work on the moving camera platform and also can achieve real-time performance. The dimension of human posture model is extremely high, and we hereby focus on the visual extraction of head and arms. A hierarchical structure model...
In this paper, we propose a marker-less full body human motion capture system designed for humanoid robot applications. The system is based on a stereo camera, and therefore has strong portability. Tracking is implemented within the particle filter framework, and the high dimensionality problem is solved through partitioned sampling. Taking advantage of the stereo setup, we propose a depth cue which...
A hexapod crawling robot with heat source detection and tracking is designed in this work. The infrared detection module is composed by Fresnel lens and pyroelectric infrared sensor. It will track automatically when it detects a human body within the certain range. A central control system is designed using single chip microcomputer ATMEGA16L as CPU and 18-channel PWM are produced for controlling...
A multi-cue method is put forward to solve the problem of multiple objects tracking under family environmental service. The cues mainly include: object detection, object prediction, and object tracking. Motion History Image is used to detect foreground and the connected component analysis is adopted to establish the target measurements. Kalman filter is presented to predict the old objects, if two...
To be able to determine the position of a static object in 3D space by means of computer vision, it has to be seen by cameras from at least two different view points. The same applies for measuring the position of a moving object based on images captured at one single time instant. However, if the cameras are not synchronized in time, or if a moving object is not visible in all images, one can not...
Modeling of optimized motion controller is one of the interesting problems in the context of behavior based mobile robotics. Behavior based mobile robots should have an ideal controller to generate perfect action. In this paper, a nonlinear identification Takagi-Sugeno fuzzy motion controller has been designed to track the positions of a moving object with the mobile platform. The parameters of the...
The advantage of the optical-flow-based visual servo methods is that features of the moving object do not need to be known in advance. Therefore, they can fit for demands of versatile positioning and tracking tasks in the real world. Nevertheless, it is difficult to achieve satisfactory tracking performance for fast moving objects using these standard approaches. The purpose of this paper is to implement...
Vision based human robot interaction (HRI) is one of main interest in our research. The aim of this paper is the detection and localization of a human walker. Our system detects the human walking by tracking the skin, locating the head and the lower part of the body and determination of joints motion. We combine two approaches: skin colour detection and leg motion by the gradient method for gesture...
Human-robot interaction (HRI) has become a very important field on mobile robotics community. Service robots must have efficient modules for HRI, in order to deal with humans in a robust way. For a service robot, it is very important to interpret when a person needs or requires assistance. In this paper a system for the detection and analysis of corporal gestures (particularly walking gestures) is...
Herein a method for object tracking and interception for applications in arm robotics is presented. Generality of five and six degree of freedom robots has traditionally been lost due to focus on pre-programmed dead-reckoning centric algorithms. The method presented herein utilizes high speed software engineering techniques in conjunction with image processing algorithms to produce a viable and extensible...
This paper presents a computational model of neural network for both spatial and temporal weights, and a unified adaptation scheme based on two biologically plausible learning rules-Hebbian rule and lateral inhibition is proposed. This model is applied to color video environment to develop a set of complete spatiotemporal weights simulating receptive field of simple cell in primary visual cortex,...
Robust feature tracking is a requirement for many computer vision tasks such as indoor robot navigation. However, indoor scenes are characterized by poorly localizable features. As a result, indoor feature tracking without artificial markers is challenging and remains an attractive problem. We propose to solve this problem by constraining the locations of a large number of nondistinctive features...
Vision based human robot interaction (HRI) in a crowded scene is a challenging research problem. The aim of this paper is to provide a reliable framework for simple gesture recognition for robotic navigation under partial occlusion and varying illumination conditions. The proposed method combines hand motion segmentation and skin colour detection for gesture recognition. Motion clustering based on...
Self-localization and tracking a moving object is a key technology for service robot interactive applications. Most tracking algorithms focus on how to correctly estimate the acceleration, velocity, and position of the moving objects based on the prior states and sensor information. What has not been studied so far is tracking the partially observable moving object which is often hidden from a robot's...
Security is an important space, the necessity of intelligent surveillance systems are becoming incredibly important. Most of the security system is an object tracking system based on images which has many weaknesses. This paper proposes the system which complement the vulnerability. Purpose of this paper is loading network camera and tracking module of sound source in mobile robot based on embedded...
This paper details a robust and accurate segmentation method for near-symmetric objects placed on a table of known geometry. Here we define visual segmentation as the problem of isolating all portions of an image that belongs to a physically coherent object. The term near-symmetric is used as our method can segment objects with some non-symmetric parts, such as a coffee mug and its handle. Using bilateral...
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