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Generally, underwater hull inspection have been conducted by human divers. It is an extremely dangerous task, and hence, can be a potential application for unmanned underwater vehicles. The operational safety and performance of in-water inspection can be significantly improved by introducing unmanned vehicle systems. This study addresses the development of an hover-capable autonomous underwater vehicle...
Image search engines commonly employ the Bag Of Features (BOF) method to represent each database image with a feature vector and retrieve the best candidate using a measure of similarity to a query image vector. The BOF vector, which specifies the occurrence frequency of features, is used with Soft Assignment (SA) to find the most similar candidates which are further analyzed using geometric information...
Omnidirectional, also referred to as 360º, visual content provides an immersive experience since it allows users to view a visual scene from different directions. The overall content typically covers a full sphere, and omnidirectional videos or images are processed to obtain a projection on a 2D plane of a fraction of the sphere (aka viewport), which is shown to the user. Therefore, users can look...
Welding is a process recognized by the laborious work and hazardous work environment it takes place, but it is an important process in different industrial scenarios, like the shipbuilding industry. The use of robots has been increasing in recent years, reducing the human interference necessary for the process. This paper proposes a system for automated seam tracking and a geometric welding bead analysis...
The use of collaborative robot systems to perform specific tasks is a strong research area on robotic systems. Robot platforms are becoming cheaper, increasing the number of applications and new tasks variations on research labs. A collaborative system that join together small mobile robots to scan some specific area and a drone to set their position on the ground is a good example of the possible...
This paper proposes a proof-of-concept for a novel automated indoor/outdoor navigation system. Our proposed method shall enable an object/user equipped to be able to navigate through closed environments using an automatically generated Spatial Map Graph (SMG) with the aid of pre-placed visual markers. The system is robust to dynamically changing complex environments, through adaptive reconfigurations...
This paper presents a new line based 6-DOF monocular algorithm that uses the iSAM2, a point-based Graph SLAM approach. We extend iSAM2 to minimize the reprojection error of the line features to solve the line-based SLAM problem. A specific line representation is exploited that combines the Plücker Coordinates and the Cayley representation. The Plücker Coordinates are used for the 3D line projection...
Dermoscopy is the in vivo technique of skin surface microscopy which is frequently used in visual examination of the skin. With the rise in the usage of smartphones, many smartphone attachments have been developed that enable dermoscopy on a phone but these attachments are very expensive and are available only for high-end phones. We have developed a novel 3D printed clip-on that can convert any smartphone...
A visually impaired person or a person with visually impaired, daily has difficulties to learn to recognize or differentiate objects when performing any activity, such as walking the streets or being able to recognize dollar bills of different denomination, this makes that the people with this type of disability cannot adapt easily to the society. Usually the visually impaired persons depend on someone...
ORB-SLAM2 is one of the better-known open source SLAM implementations available. However, the dependence of visual features causes it to fail in featureless environments. With the present work, we propose a new technique to improve visual odometry results given by ORB-SLAM2 using a tightly Sensor Fusion approach to integrate camera and odometer data. In this work, we use odometer readings to improve...
In monocular vision systems, lack of knowledge about metric distances caused by the inherent scale ambiguity can be a strong limitation for some applications. We offer a method for fusing inertial measurements with monocular odometry or tracking to estimate metric distances in inertial-monocular systems and to increase the rate of pose estimates. As we performed the fusion in a loosely-coupled manner,...
This paper describes the implementation of a 3D handheld scanning approach based on Kinect. User may get the 3D scans at a very fast rate using real time scanning devices like Kinect. These devices have been utilized in several applications, but the scanning lacks in the accuracy and reliability of the 3D data, which makes their employment a difficult task. This research proposed the 3D handheld scanning...
In this paper, we introduce a new hardware platform that mimics a compound eye of an insect and propose an algorithm to detect objects using it. The compound eye camera has a wide viewing angle and simulates a number of single eyes on its hemisphere. Each single eye is an elementary unit to acquire visual inputs. Visual information from single eyes is hierarchically merged to estimate objectness....
This study proposes a method for analysis and calibration of the geo-coding error in mapping of the moving targets, 'movers', detected in the Wide Area Motion Imagery (WAMI). To estimate the accurate position of the movers, an iterative Ordinary Least Squares (OLS) optimisation of the camera model parameters is performed. The OLS is set to minimise the Euclidean distance between the locations of the...
This paper presents a fusion of monocular camera-based metric localization, IMU and odometry in dynamic environments of public roads. We build multiple vision-based maps and use them at the same time in localization phase. For the mapping phase, visual maps are built by employing ORB-SLAM and accurate metric positioning from LiDAR-based NDT scan matching. This external positioning is utilized to correct...
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...
In this paper, based on quaternion and Euler angles, an attitude control algorithm is proposed for pitching and rolling of quadrotor aircraft. In addition, the target tracking algorithm of quadrotor aircraft is designed by using the collected video information and color feature recognition. The system is based on the homemade quadrotor aircraft, using gyroscope, accelerometer as the original measurement...
In view of the docking problem of indoor Intelligent Wheelchair/Bed (IWB), a docking control method based on the combination of a simple artificial landmark and ultrasound is proposed in this paper. First, the artificial landmark on the auxiliary bed is identified and the artificial landmark is used to establish the world coordinate system; then, the relative position and orientation from the wheelchair...
The intensive annotation cost and the rich but unlabeled data contained in videos motivate us to propose an unsupervised video-based person re-identification (re-ID) method. We start from two assumptions: 1) different video tracklets typically contain different persons, given that the tracklets are taken at distinct places or with long intervals; 2) within each tracklet, the frames are mostly of the...
In this paper we introduce a novel Depth-Aware Video Saliency approach to predict human focus of attention when viewing videos that contain a depth map (RGBD) on a 2D screen. Saliency estimation in this scenario is highly important since in the near future 3D video content will be easily acquired yet hard to display. Despite considerable progress in 3D display technologies, most are still expensive...
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