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This paper presents a model based system for a mobile robot to find an optimal pose for the observation of a person in indoor living environments. We define the observation pose as a combination of the camera position and view direction as well as further parameters like the aperture angle. The optimal placement of a camera is not trivial because of the high dynamic range of the scenes near windows...
Motion blur is a severe problem in images grabbed by legged robots and, in particular, by small humanoid robots. Standard feature extraction and tracking approaches typically fail when applied to sequences of images strongly affected by motion blur. In this paper, we propose a new feature detection and tracking scheme that is robust even to non-uniform motion blur. Furthermore, we developed a framework...
Application of a vision system and a remote control car to an elective fourth year design project in electrical engineering is discussed. The design project involves learning and application of various sensors, actuators, control theories. The end product of the design project is an intelligent vehicle that is able to follow an emulated highway automatically. A camera with embedded color tracking...
One important feature of a cognitive system is to perceive and understand its environment and to adapt its actions to changes and unforeseen situations. In this paper, we propose a scheme for visual surprise detection in cognitive mobile robots. With the robot's observation and a set of reference images previously acquired near its current viewpoint, a pixel-wise surprise trigger is computed using...
In the autonomous city explorer (ACE) project a mobile robot is developed, which is capable of finding its way to a given destination in an unknown urban environment. An exemplary mission is to find the way from our institute to the Marienplatz, a public place in the center of Munich, without any prior knowledge or GPS information. Inspired by the behavior of humans in unknown environments, ACE must...
In many mobile robotics applications involving exploration of unknown environments, it would be extremely useful to provide human operators with a real-time 3D visualization of the environment the robot is exploring. Although a great deal of progress has been made in the separate fields of photorealistic structure from motion and realtime vision-based robot localization and mapping (SLAM), the ultimate...
This paper describes Quanser's mobile robot control framework (QMRCF) for an educational robot called Qbot. The QMRCF accelerates the development of mobile robot control algorithms and hardware-in-the-loop (HIL) testing using model-based design techniques of matlab simulink. This paper also validates the performance of QMRCF using several experiments in various research fields of mobile robotics,...
This paper deals with the design and construction of a climbing robot for performing grit blasting operations in shipyards. The robot is based on a double sliding platform that uses permanent magnets for attachment. It is lightweight and compact and can move up and along the shipside with any inclination while grit blasting the surface to pre-specified surface quality levels. It can also rotate to...
In this project an algorithm to generate a single image of an entire water pipe's inside wall was developed. An Autonomous Underwater Vehicle (AUV) equipped with a fish-eye camera will be deployed to dive through the pipe and take pictures of its inside wall. The algorithm was implemented that maps such pictures to the three dimensional model of the water pipe and based on that, generates the image...
Lunar or planetary exploration missions including landers and rovers are earnestly under studying in Japan. One of main missions for lunar robotics exploration is to demonstrate the technologies for lunar or planetary surface exploration. They will cover landing technology and surface exploration rover technology. Lunar geologic survey will be also performed for utilization and scientific investigation...
In this paper, we discuss a robot vision in order to perceive people and the environment around a mobile robot. We developed a tele-operated mobile robot with a pan-tilt mechanism composed of a camera and a laser range finder (LRF). In this paper, we propose a method for sensor fusion to extract a human from the measured data by integrating these outputs based on the concept of synthesis. Next, we...
This paper describes a an SLAM algorithm for the navigation for an indoor autonomous mobile robot. The main emphasis of this paper is on the ability of line extraction. A recognition method based on straight line extraction is proposed for extracting the key features on the office ceiling, in an effort to estimate the pose of mobile robot. Random sample consensus (RANSAC) paradigm is used to group...
The robot technology is rapidly developing in recent years. In connection with this technology, a robot activity is expected in various places or various environments. Therefore, this study describes 1) how the location of the destination of the robot in real world is measured based on the image obtained by one camera and 2) how the robot is navigated to the destination where a user points out on...
Binocular Stereo vision system has been actively used for real time obstacle avoidance in autonomous mobile robotics for the last century. The computation of free space is one of the essential tasks in this field. This paper describes algorithm for obstacle avoidance for mobile robots which can navigate through obstacle. While most of the paper based on stereo vision works on the disparity image but...
The computation of a mobile robot position and orientation is a common task in the area of computer vision and image processing. For a successful application, it is important that the position and orientation of a mobile robot must be determined properly. In this paper, a simple procedure for determining the orientation of the mobile robot using two cameras is presented. The two cameras are used to...
Vision is one of the most important aesthesia of mobile robot. Conventional vision for robot is so-called simultaneous localization and mapping (SLAM) technology, but this technology usually is used to take cognizance of macrostructure of environment. The objects in the scene are commonly treated as just landmarks and the detail 3D information are ignored. But our cognitive robot requires finding...
Plasma-RX is a team of robots for search and rescue mission in an urban environment. The robot configuration contains differential drive tracks with front/rear flippers and serial-link arms equipped with cameras. They contain many sensors: thermopile array, CO2 sensor, microphone, tilt sensor, digital compass and laser range finder. For low level control of robots, a processor Arm7 and a special-purpose...
Nowadays, mobile robots work under the dynamic environments like manufacturing industries with machinery parts as moving objects and are using many techniques for navigation, obstacle avoidance, and localization. In this work we are using pioneer 2 DX mobile robot for experiments. This paper focuses on development of algorithms with the integration of path planning by potential field method and Monte...
We developed a rescue robot system, which allows efficient utilization of the potentials of a robot, by effectively switching between tele-operation mode and autonomous mode based on the task and the operation environment. Rescue robots are mobile sytems which can perform search for human lives, on behalf of rescue personnel, in dangerous environments like earthquack disaster zones or areas with chemical...
Many natural hazards like earthquake and seismic sea waves happen every year all over the world. In addition, many manmade disasters happen in many countries. To deal with these disasters, rescue robots are being developed in many countries. These robots support the rescue workers to search for the victims in the disaster environments. In this paper, we propose a flexible and generic interface system...
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