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The use of vision systems for industrial robot guidance and quality control becomes much harder when the manufactured products and their components are small and possess reflective surface. To assure an effective automated visual inspection of such components, novel solutions are required, able to perform more advanced image analysis and tackle noise and uncertainty. This paper proposes a concept...
Path finding problems employ implementation of certain algorithms which enable an autonomous robot to traverse a path from a start position to an end position. Generally, the approach uses manipulation of data from the sensors to make decisions needed to traverse along the desired path. A development to this approach is the use of images of the maze to determine motion of the robot. Existing solutions...
In recent decades, face recognition has been a hot topic in image processing, pattern recognition and other areas. To solve the issue of the lack of feature information brought by single training face sample, this paper proposed a method on homography transformation, which is about producing virtual multi-pose face by a front view image of face. First, assume that the single sample face is positive...
Many indoor navigation robots use structured light vision measurement systems (SLVMS) for mapping, localization, and obstacle avoidances. In these systems, the extraction of light stripe skeleton directly affects the accuracy of the final measurements. One of the problems in SLVMS is that when the light is projected to some rough surface it will cause strong diffuse reflection. Thus the light stripe...
In this study, we applied reinforcement learning to actual quadrotor unmanned aerial vehicles (UAVs). It is expected that UAVs will contribute to multiple fields (e.g., rescue, sports, and entertainment). However, the autonomous control of UAVs is still a difficult problem to solve. We applied reinforcement learning to a UAV to achieve stable hovering. Q-learning, a common reinforcement learning method,...
The vision system of an autonomous robot can obtain and analyze the necessary environmental information used for autonomous decisions. The processing and recognition of the images captured through the autonomous robot visual system is discussed in this paper. The discussion mainly includes three key issues, namely the extraction of image region of interest, the canceling of image inverse projection...
Optical tracking method has been largely usedfor medical navigation system in Robotic Image GuidedSurgery (IGS). One of the methods proposed by recentresearcher is to use colour feature as the marker for medicalinstruments detection and tracking. Since IGS system isusing preoperative imaging data set for reference, unintended patient movement can result in major errors. Inthis work, the position for...
We propose design principles of a high-speed omni-scannable gaze controller that is advantageous over previously proposed omni-scannable controllers in terms of response time. This is achieved by overcoming the narrow scanning range of the high-speed Saccade Mirror, a gaze controller that employs single-axis rotating mirrors, while maintaining its short response time. It is first shown that in order...
In computer vision applications based on machine learning algorithms, a ground truth of datasets is necessary for efficient training of classification or data mining algorithms. Due to the increasing computer power, machine vision systems are developed for robotic, medical and industrial applications. This paper puts the main emphasis on the SURF algorithm for agricultural image applications in organic...
Autonomous micromanipulation has a great potential to impact every research field concerning objects at a small scale. In this paper, we report our work on detection and tracking of a transparent SU-8 microchip in 3D Cartesian space during micromanipulation. Conditions such as occlusion, variant object orientation and poor edge prominence hinder the implementation of conventional vision algorithms...
Disability of movement has huge impact on the life of physically disabled people. Therefore there is need to develop a robot which can be controlled using iris movement. Presently iris controlled robotic systems exist in which iris movement detection is done using MATLAB. This paper proposes a system which aims to design a robot controlled by iris movement. The system is designed using Raspberry Pi...
In teleoperation systems, operator performance can be significantly degraded even from small time-delays in visual feedback. This paper evaluated quantitatively tele-manipulation performance under different time delays from 0 to 4 seconds while controlling from 2 to 6 robot arm DOF's in an object alignment task. In our user study 15 subjects teleoperate 1650 alignment motions. Performance is quantitatively...
(Semi-) autonomous complex UAV missions, such as inspection or search-and-rescue in uncertain dynamic environments, require obstacle avoidance and operator shared control. Combining humans' cognitive abilities with fast automation is the key for such missions. This paper presents a flight control system architecture based on the instantaneous Task Specification using Constraints (iTaSC) methodology...
In this paper, a method todetect environmental hazards related to a fall risk using a mobile vision system is proposed. First-person perspective videos are proposed to provide objective evidence on cause and circumstances of perturbedbalance during activities of daily living, targeted to seniors. A classification problem was defined with 17 total classes of potential fall risks, including slope changes...
Nowadays, the technological and scientific research related to underwater perception is focused in developing more cost-effective tools to support activities related with the inspection, search and rescue of wreckages and site exploration: devices with higher autonomy, endurance and capabilities. Currently, specific tasks are already carried out by remotely-operated vehicles (ROV) and autonomous underwater...
Stereo vision is an active research topic in computer vision. Point Grey® Bumblebee® and digital single-lens reflex camera (DSLR) are normally found in the stereo vision research, they are robust but expensive. Open source electronic prototyping platforms such as Arduino and Raspberry Pi are interesting products, which allows students or researchers to custom made inexpensive experimental equipment...
This paper proposes a simple image processing approach for detecting and tracking objects in the surrounding environment purporting to drive a portable exoskeleton for upper extremity rehabilitation. An experiment was carried out to test the feasibility of the proposed approach. The experiment was to mimic reaching an object placed on a ruler board in front of the user in the sagittal plane. Kinematical...
The article presents a way of visualizing point clouds created by 3D scanning in a coal mine. The first part focuses on the choice of individual algorithms for point cloud pre-processing (using the library PCL — Point Cloud Library), namely voxelization, outlier removing and smoothing. Then it is described the main rendering algorithm of the software — the chosen way of point rendering and some more...
This article describes algorithm which detects moving objects in video using the construction and analysis of a graph model. The comparison with the same method that is considered in the documentation for MATLAB is carried out. The efficiency and correctness of the algorithm is proved. Examination of the proposed solutions on test video image is done.
This paper presents the last developments towards vision-based target tracking by an AUV. The main concepts behind the visual relative localization are provided and the results from a statistical analysis for the relative localization algorithm are presented. The purpose of this analysis is to ensure properness of data used to feed controllers that are responsible for governing the AUV motion. A new...
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