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The development of a vision system to aid the autonomous navigation of an unmanned helicopter, primarily based on inertial sensors and GPS data, is presented. An unmanned helicopter has been equipped with appropriate sensors and a vision system fitted on a custom pan-tilt mechanism. Robust software, based on the Open Computer Vision Library (OpenCV), has been developed for handling images and video...
In the context of driving assistance, detection of moving targets is challenging when the automobile is witnessing very complex environment. The main challenges come from difficulties to tell foreground from moving background due to camera motion. We present an efficient method for target detection by hierarchically distinguishing the motion of targets from that of the background and using color information...
Light stripe projection (LSP) is one of useful methods to recognize 3D information in various vision applications. In general, light stripe feature (LSF) is detected by LOG (Laplacian Of Gaussian) operator. Because LOG variance parameter is corresponding to LSF width, improper parameter value causes severe performance degradation. Our previous work proposed a method predicting LSF width by modeling...
This study introduces an approach to three-dimensional vehicle pose estimation using a stereo camera system. After computation of stereo and optical flow on the investigated scene, a four-dimensional clustering approach separates the static from the moving objects in the scene. The iterative closest point algorithm (ICP) estimates the vehicle pose using a cuboid as a weak vehicle model. In contrast...
The paper proposes new technologies to support independence and engagement in elderly people living alone at home in the framework of a new UE Integrated Project. Aim of the study is the development of a light technological infrastructure to be integrated in the homes of old people at reduced costs, allowing the detection of critical health situations. In particular a reliable fall detector is presented,...
Understanding the mechanism mediating the change from inaccurate pre-reaching to accurate reaching in infants may confer advantage from both a robotic and biological research perspective. In this work, we present a biologically meaningful learning scheme applied to the coordination between reach and gaze within a robotic structure. The system is model-free and does not utilize a global reference system...
This paper presents a novel person to camera distance measuring system based on eye-distance. The distance between centers of two eyes is used for measuring the person to camera distance. The variation in eye-distance (in pixels) with the changes in camera to person distance (in inches) is used to formulate the distance measuring system. The system starts with computing the distance between two eyes...
This paper introduces a novel method for vehicle pose estimation and motion tracking using visual features. The method combines ideas from research on visual odometry with a feature map that is automatically generated from aerial images into a visual navigation system. Given an initial pose estimate, e.g. from a GPS receiver, the system is capable of robustly tracking the vehicle pose in geographical...
Semantic relatedness measures provide a means to determine how closely related two concepts may or may not be. In the area of ontology alignment, many lexical-based relatedness measures have been successfully applied within the realm of domain ontologies. The alignment initiative, however, has not included all measures of relatedness. More generic measures of relatedness, such as meronomy-based, have...
This paper focuses on ego-localization using in-vehicle cameras. We propose a 2D ego-localization method using streetscape appearance as a feature of image matching and the triangulation of matching results. The image sequences of two in-vehicle cameras are matched to a database that contains a sequence of streetscape images and their corresponding positions. First, the proposed method searches for...
In this research, we propose a unique multi-planar LIDAR and computer vision calibration algorithm. This method only requires the camera and LIDAR to observe a planar pattern at different positions and orientations. Geometric constraints of the dasiaviewspsila from the LIDAR and camera images are resolved as the coordinate transformation coefficients. The proposed approach consists of two stages:...
A multi-sensor system for vehicle tracking and lane detection is presented in this contribution. The system utilizes a lidar and a monocular camera sensor. The main focus for the lidar lies in the field of vehicle detection and the camera is initially used for lane detection. Therewith realized and introduced applications onto the market are driver assistance systems for adaptive cruise control (ACC)...
Recently, researches on intelligent vehicles which can drive in urban environment autonomously become more popular. Traffic lights are common in cities and are important cues for the path planning of intelligent vehicles. In this paper, a robust and efficient algorithm to detect traffic lights based on video sequences captured by a low cost off-the-shelf video camera is proposed. The algorithm models...
The objective of this study is to establish a rear-end collision warning system for an advance safety vehicle (ASV) by using a mounted rear-end monitoring camera. The paper attempted to analyze the driving environmental data and built up the rear-end collision warning logic on account of image processing. The main idea of the warning system is to prevent accidents caused by inattentive drivers. In...
The aim of the paper is to demonstrate a design of a low cost mobile robotics experiment using camera and sonar sensors. The experiment is designed to be used as one of laboratory sessions of a course on Fundamentals of Autonomous Robots. This hands-on course aims to foster students' interests from different fields to autonomous mobile robotics and improve the education in this area. The proposed...
Miniature air vehicles (MAVs) are often used for low altitude flights where unknown obstacles might be encountered. Path planning and obstacle avoidance for MAVs involve planning a feasible path from an initial state to a goal state while avoiding obstacles in the environment. This paper presents a vision-based local multi-resolution mapping and path planning technique for MAVs using a forward-looking...
A position-based visual servo control strategy is proposed for leader-follower formation control of unmanned ground vehicles (UGVs). The proposed control law only requires the knowledge of a single known length on the leader. The relative pose and the relative velocity of the leader are estimated with respect to the follower in the follower reference frame. The relative pose and the relative velocity...
E-commerce became very popular in recent years because of the great success achieved by some applications such as online auctions. However, currently the trend is that users of these portals execute more transactions in direct shopping than in online auctions and, probably because of the beginning of many of such portals as auctioning sites, their effectiveness decreases when searching for products...
In this paper, we propose a novel method inspired by the bio-informatics domain to parse a rushes video into scenes and takes. The Smith-Waterman algorithm provides an efficient way to compare sequences by comparing segments of all possible lengths and optimizing the similarity measure. We propose to adapt this method in order to detect repetitive sequences in rushes video. Based on the alignments...
We present a system that combines multiple visual navigation techniques to achieve GPS-denied, non-line-of-sight SLAM capability for heterogeneous platforms. Our approach builds on several layers of vision algorithms, including sparse frame-to-frame structure from motion (visual odometry), a Kalman filter for fusion with inertial measurement unit (IMU) data and a distributed visual landmark matching...
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