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Real-time object detection is crucial for many applications of Unmanned Aerial Vehicles (UAVs) such asreconnaissance and surveillance, search-and-rescue, and infras-tructure inspection. In the last few years, Convolutional NeuralNetworks (CNNs) have emerged as a powerful class of modelsfor recognizing image content, and are widely considered inthe computer vision community to be the de facto standardapproach...
A continuously adaptive template matching algorithm for depth camera is proposed for tracking human upper body. In contrast to traditional method for image patch matching, the background behind the target is separated, also the size of the tracking window is adjustable based on the distance of the target, which discard most of the disturbance in a relatively larger tracking window with smaller target...
This paper proposes an approach to analyze the performance of a table tennis player in returning balls launched by a machine. Video frames streamed by a single-view low-quality camera are used as the input of the proposed approach. Background subtraction, HSV transformation, and morphological processing are also applied to identify the location of the ball. The output of the proposed approach is types...
Though the classical robotics is highly proficient in accomplishing a lot of complex tasks, still it is far from exhibiting the human-like natural intelligence in terms of flexibility and reliability to work in dynamic scenarios. In order to render these qualities in the robots, reinforcement learning could prove to be quite effective. By employing learning based training provided by reinforcement...
Susanne Boll recounts her experience as a telepresence robot attending this year’s ACM Conference on Human Factors in Computing Systems (CHI), illustrating the fusion of the state of the art in robotics, long-distance interaction, and shared remote-audio-visual experiences. As a researcher in human computer interaction, yet with an international team facing restricted travel owing to the newly imposed...
In this paper, we propose a jellyfish distribution management system using an UAV (unmanned aerial vehicle) and USVs (unmanned surface vehicle). The UAV was designed to satisfy the requirements for flight in ocean environment. The target jellyfish, aurelia aurita, is recognized through a convolution neural network and its distribution is calculated. A high-speed deep neural network architecture has...
This paper describes about the team SNU MACRO'S strategy for scan the code mission in Maritime RobotX Challenge. Before describing the specific algorithm for scan the code mission, our vehicle system which was developed for completing each mission for the competition is outlined briefly. To recognize the LED color of the buoy, image processing algorithm is divided into three step, including preprocessing,...
We propose a novel marker for robot's grasping task which has the following three aspects: (i) it is easy-to-find in a cluttered background, (ii) it is calculable for its posture (iii) its size is compact. The proposed marker is composed of a random dots pattern, and uses keypoint detection and a scale estimation by Spectral SIFT for dots detection and data decoding. The data is encoded by the scale...
In this paper is presented the integration of diverse modules for people fallen detection by a mobile service robot. This integration has been achieved in the middleware ROS (Robotics Operation System). The proposed implementation are arranged over an modular architecture of three layers: Hardware, Processing and Decision. The modules implemented are on the processing layer. The first module uses...
In this paper, we propose a method to correct the over- and underexposed regions in images. For the correction of over- and underexposed regions, multiple light sources are used to obtain several images whose over- and underexposed regions are in different positions. The image processing consists of four steps. Firstly, multiple images are captured by alternately turning on and off the illuminations...
Introducing robots into the operating theatre has become more popular in recent decades. Surgical manipulators have been developed to assist in surgeries like a human assistant to facilitate the surgical procedures. In this paper, we present an eye-controlled interface for the surgeon to control this kind of robot based on eye-tracking glasses. In our approach, we use the monitor for providing the...
Based on the research of visual servo, this paper designs a set of high-speed dynamic target acquisition and processing visual system and also applies it to a servo robotic product. The experiment proves that this system had high robustness and instantaneity, which can detect and locate high-speed movement target and obtain its dynamic information, then sends data to the servo control system of the...
Light field cameras capture a scene's multi-directional light field with one image, allowing the estimation of depth. In this paper, we introduce a fully automatic method for depth estimation from a single plenoptic image running a RANSAC-like algorithm for feature matching. The novelty about our method is the global method to back project correspondences found using photometric similarity to obtain...
Recognition of dominant planes is an important task used in areas such as robot navigation, augmented reality, 3D reconstruction, among others. There are several approaches for recognizing planar structures, however, most of these approaches are based on processing two or more images captured from different camera views or on processing 3D data in the form of point clouds associated with the camera...
The absolute orientation problem arises often in vision and robotics. Despite that robust algorithmic solutions exist for quite some time, they all rely on matrix factorizations such as eigen or singular value decomposition. These factorizations are relatively expensive to compute, therefore might become a performance bottleneck when absolute orientation needs to be repeatedly computed on low-end...
We propose a software-based projected image stabilization method for a projector mounted on a movable unit (e.g., a wheeled robot). The proposed method is divided into pre-measurement and stabilization processes. In the pre-measurement process, synchronized Inertial Measurement Unit (IMU) data and projector poses are measured and synchronized. In the stabilization process, the pre-measured IMU data...
As the elderly population grows rapidly, many social problems arise. In order to help enhance the lives of the elderly, many applications and devices have been developed. However, they are still limited to certain situations and lack some ability for remote assistance. Therefore, we present a projector-camera based assistance device for the elderly. It takes advantage of projection AR technologies...
High-speed recognition of the shape of a target object is indispensable for robot arms to perform various kinds of dexterous tasks in real time. In this paper, we propose a high-speed 3-D sensing system with active target-tracking. The system consists of a high-speed camera head and a high-speed projector, which are mounted on a two-axis active vision system. By measuring coded structured light projected...
Robotics has impacted many domains and industries. Robotics in education has been of particular interest to researchers and educationalists through the past decade. Various studies have confirmed that robots have had a positive impact on teaching skills in various subjects. In this paper, we develop and discuss a prototype for a robot language tutor. We use various vision techniques for behavior analysis...
With the arrival of new robotic technologies such as an Autonomous Underwater Vehicle (AUV), a number of tasks that cannot be done by human now can be accomplished and bring human to reach the dangerous and unreachable areas. An AUV can be related to the most invention which can reduce human's work using specialized equipment and devices that control and perform the particular tasks. Therefore, it...
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