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In the context of visualization and interaction with molecules, the representation of a 3D virtual environment potentially helps the understanding of data and structure manipulation that, in other case, would demand too much effort to be interpreted in a conventional way. Additionally, the exploration of these 3D environments in an immersive way may also improve the usability regarding velocity, precision...
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...
Precise 3D modeling of a workpiece is essential in many industrial applications, such as workpiece localization and inspection. However, the limits of sensor fields of view (FoV), object self-occlusions, and robot arm footprints demand a proper selection of scanning paths and views. In this paper, we propose an autonomous modeling scheme using a next best view (NBV) algorithm based on an adaptive...
The group of rotations in three dimensions SO(3) plays a crucial role in applications ranging from robotics and aeronautics to computer graphics. Rotations have three degrees of freedom, but representing rotations is a nontrivial matter and different methods, such as Euler angles, quaternions, rotation matrices, and Rodrigues vectors are commonly used. Unfortunately, none of these representations...
A collision detection system triggering on human motion was developed using the Robot Operating System (ROS) and the Point Cloud Library (PCL). ROS was used as the core of the programs and for the communication with an industrial robot. Combining the depths fields from the 3D cameras was accomplished by the use of PCL. The library was also the underlying tool for segmenting the human from the registrated...
This paper proposes a geometric feature-based method to solve the Simultaneous Localization and Mapping (SLAM) problem in an unknown structured environment using a short range and low Field of View (FoV) measurement unit such as Kinect sensor. A RANdom SAmple Consensus (RANSAC) based algorithm is used for feature detection, and a grid-based point cloud segmentation method has been introduced to improve...
Mapping is a very critical issue for enabling autonomous driving. This paper proposes a robust approach to generate high definition maps based on LIDAR point clouds and post-processed localization measurements. Many problems are addressed including quality, saving size, global labeling and processing time. High quality is guaranteed by accumulating and killing the sparsity of the point clouds in a...
In the fall of 1996, the Rochester Institute of Technology launched the first undergraduate software engineering program in the United States. The culmination of five years of planning, development, and review, the program was designed from the outset to prepare graduates for professional positions in commercial and industrial software development. From an initial class of 15, the ABET-accredited...
This paper introduces a new video understanding dataset which can be utilised for the related problems of event recognition, localisation and description in video. Our dataset consists of dense, well structured event annotations in untrimmed video of tennis matches. We also include highly detailed commentary style descriptions, which are heavily dependent on both the occurrence as well as the sequence...
The rapid increase in available protein structure datasets requires new techniques for fast, yet, effective analysis of protein 3D structures. In this work, we propose a structure-based signature for protein families, suitable for rapid analysis of multidomain domain protein structures. Our method is alignment-free, using protein strings as the basic representation. A key novelty is the two-stage...
A near-light perspective shape from shading (SfS) technique applied to endoscopy for 3D visualizations of the gastrointestinal tract regions is presented. By utilizing an extensible reflectance model, we study a robust Huber regularization function based variational SfS model. A balancing parameter is used for weighting the irradiance ad smoothness/regularization terms. Experimental results on different...
Brain tumors, especially high-grade gliomas, are one of the most lethal cancers for humankind today. Early and accurate diagnosis of tumor grading is the key for subsequent therapy and treatment. In the past, conventional computer-aided diagnosis relies on handcrafted features from magnetic resonance images (MRI), which are usually inaccurate and laborious. Recently, deep neural networks have been...
Robots assist rescuers in search and rescue operations. The important aspects investigated in this study are the integration of a mechatronic system that will allow for a robotic platform with a vision system. The research collaboration between Argentina and South Africa is discussed with the correlating research areas that each country will investigate to allow for the development and advancement...
Consumer-grade RGB-D cameras capture RGB images along with per-pixel depth information, and because of their limited cost and ability to measure distances at a high frame rate, have been used in robotics and computer vision application. However, drawbacks include the repeatability and accuracy of RGB-D cameras for object detection and localization. This paper investigates and compares RGB-D cameras'...
The perception of the environment is one the most important tasks related to automated driving systems navigation. Typically, the robot detects the road surface and obstacles to perform the local navigation control safely. However, working with image data brings several problems related to environment elements like shadows, light reflection, low-variance textures, etc., which could compromise the...
A computational fluid dynamics (CFD) study was carried out to characterize the main forces in a Savonius vertical axis counter-rotating wind turbine, the rotors are 73 mm in diameter with an end plate of 80.3 mm of diameter and a total height of 60.24 mm. The simulations were done in Ansys Fluent® using a turbulence κ-ω SST model. According to the obtained results, the power coefficient of the rotors...
Development of the new generation of high power and high frequency power electronic switches along with the need for compact controllable converters for utilization of distributed energy resources in the grid, have led to significant developments in the area of solid state transformers in the last years. The design process of a high frequency transformer as the main element in the solid state transformer...
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...
Image-to-patient registration process is required to use actively pre-operative images such as CT and MRI during operation for surgical navigation system. One method to utilize scanning data of patients and 3D data from MRI or CT images is dealt with in this paper. After 3D surface measurement device measures the surface of patient's surgical site, this 3D data is registered to CT or MRI data using...
RGB-D view registration has been widely studied by the robotics and computer vision community. The well known Iterative Closest Points (ICP) method and its variants prevail for estimating the relative pose between sensors. However, the optimization is performed locally and by consequence it can get trapped in local minima. Global registration methods have been introduced as an approach to solve the...
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