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The correct functioning of data measuring systems is impossible without timely metrological examination and calibration of measuring channels. Uncalibrated channels can transmit unreliable data, leading to the poor monitoring and incorrect decision making. The overview of the current research in the field of measuring channels calibration shows the low research activity in this area and highlights...
The choice of poses for camera calibration with planar patterns is only rarely considered — yet the calibration precision heavily depend on it. This work presents a pose selection method that explicitly avoids singular pose configurations which would lead to an unreliable solution. Consequently camera poses are favoured that reduce the uncertainty of the calibration parameters most. For this purpose...
This paper presents a self-memory prediction model to mitigate the effects of image based visual servoing (IBVS) system under uncertainty. The performance of IBVS system is easily influenced by different tasks, diverse environments and uncertain disturbances. Through building a self-memory prediction model to keep previous movement tendency in the every current movement, the framework of a self-memory...
Estimating the 6-DoF pose of a camera from a single image relative to a pre-computed 3D point-set is an important task for many computer vision applications. Perspective-n-Point (PnP) solvers are routinely used for camera pose estimation, provided that a good quality set of 2D-3D feature correspondences are known beforehand. However, finding optimal correspondences between 2D key-points and a 3D point-set...
The experimental method of a robust adaptive trajectory tracking control of nonholonomic wheeled mobile robots using only web camera is proposed. This paper proposes an experimental system for using video camera images in MATLAB / Simulink(R)using donated software. We make a simple contrivance, the coordinates information which can be given by video camera image can take into MATLAB/Simulink, and...
This paper presents an adaptive receding horizon controller for a high-speed, jet-powered catamaran Autonomous Surface Vehicle (ASV) operating in narrow and cluttered natural waterways. Using an integrated vision and laser-based sensor system for real-time shoreline classification and obstacle detection, the control reference trajectories and planning horizons are adapted based on the estimated obstacle/shoreline...
Stereo visual odometry is one of the most accurate dead-reckoning methods for estimating the motion of a moving vehicle but it strongly depends on a robust matching of the image features in the stereo frame. If a stereo camera is observing the environment from a critically small distance the two field of view can be subjected to poor or absent overlapping. That leads to failure of the computation...
Bare electrodynamic tethers are proposed in the recent literature as a potential solution for deorbiting large dual-payload adapters, such as Sylda onboard Ariane 5. Deorbit measures are required to mitigate the increase of debris population, and consequent collision risk, in space. The system proposed hereby is made of two bare electrodynamic tethers (BET), deployed with respective tip-masses, along...
In this work we have performed a sensitivity analysis of the Visual Position Estimator for Rover (VIPER) algorithm using data and images provided by NASA MER exploration rovers and NASA Mars Reconnaissance Orbiter. The algorithm retrieves the rover camera position and orientation relative to a Digital Elevation Model by comparing the skyline extracted from a panoramic image captured by the rover and...
Recognition is always an interesting aspect of visual processing, especially for systems that requires intuitive perception like robotics or human-machine interactions. In this work, a color recognition system based on Evidence Theory is applied for a scenario of the NAO robot that recognizes the color of a requested ball. The robot employs multi-cameras to reduce uncertainties, and the Dempster-Shafer...
This paper proposes a novel method for corresponding visual measurements to map points in a visual-inertial navigation system. The algorithm is based on the minimization of the photometric error on sparse locations of the image region, and realizes a gain in robustness that comes from the elimination of the need of feature-extraction for correspondence. The system is compared to a standard approach...
The correct handling of complex traffic-light-controlled intersections is still a challenge for automated vehicles. While a number of image-based approaches tackle close-range recognitions, an early traffic light detection at high distances is of great importance in the area of energy-efficient driving. For this reason, a traffic light detection system consisting of multiple on-board cameras is presented...
Line Camera has been emerging as an effective approach to contactless measurement systems. Line cameras are preferred to area scan cameras in specific applications where the object to be scanned has one dimension much greater than the other two (e.g. train). In this paper, a line camera analytic model and its calibration procedure, are described. A significant part of the paper is dedicated to measurement...
Agile robots, such as small Unmanned Aerial Vehicles (UAVs) can have a great impact on the automation of tasks, such as industrial inspection and maintenance or crop monitoring and fertilization in agriculture. Their deploy-ability, however, relies on the UAV's ability to self-localize with precision and exhibit robustness to common sources of uncertainty in real missions. Here, we propose a new system...
Most visual odometry algorithm for a monocular camera focuses on points, either by feature matching, or direct alignment of pixel intensity, while ignoring a common but important geometry entity: edges. In this paper, we propose an odometry algorithm that combines points and edges to benefit from the advantages of both direct and feature based methods. It works better in texture-less environments...
In this paper, we proposed an indirect method to measure the distance of an object accurately by single visual cameras using triangulation. The object can be seen as the third point of a triangle with two known sides and one known angle. Distance to object can be determined indirectly on the base of known sides and angle, rather than being measured directly. It would be very useful in case there is...
In this paper, we seek to provide consistent, real-time 3D localization capabilities to mobile devices navigating within previously mapped areas. To this end, we introduce the Cholesky-Schmidt-Kalman filter (C-SKF), which explicitly considers the uncertainty of the prior map, by employing the sparse Cholesky factor of the map's Hessian, instead of its dense covariance-as is the case for the Schmidt-Kalman...
Conventional camera calibration techniques rely on discrete reference points extracted from a set of input images. While these approaches have been applied successfully for a long time, omitting all image information apart from reference point positions at the initial stage of the calibration pipeline renders correct treatment of uncertainties difficult and gives rise to complications in timestamping...
Nowadays, face recognition systems are going to widespread in many fields of application, from automatic user login for financial activities and access to restricted areas, to surveillance for improving security in airports and railway stations, to cite a few. In such scenarios, several architectures based on both 2D image analysis and 3D reconstruction are investigated and proposed in literature...
Target tracking in a network of wireless cameras may fail if data are captured or exchanged asynchronously. Unlike traditional sensor networks, video processing may generate significant delays that also vary from camera to camera. Moreover, the continuous and rapid change of the dynamics of the consensus variable (the target state) makes tracking even more challenging under these conditions. To address...
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