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Micro aerial vehicles, such as multirotors, are particular well suited for the autonomous monitoring, inspection, and surveillance of buildings, e.g., for maintenance in industrial plants. Key prerequisites for the fully autonomous operation of micro aerial vehicles in complex 3D environments include real-time state estimation, obstacle detection, mapping, and navigation planning. In this paper, we...
Multicopters are lightweight and maneuverable aerial vehicles yet unable to carry heavy payloads, such as large sensors or computers required for indoor autonomous navigation. Therefore, localization is usually performed by using vision-based solutions employing of either lightweight on-board cameras or external fixed cameras and a ground station for data-processing. Nevertheless, the current tendency...
This paper presents a novel method to use optical flow navigation for long term navigation. Unlike standard SLAM approaches for augmented reality, OFLAAM is designed for Micro Air Vehicles (MAV). It uses a optical flow camera pointing downwards, a IMU and a monocular camera pointing frontwards. That configuration avoids the computational expensive mapping and tracking of the 3D features. It only maps...
Visual odometry, especially using a forward-looking camera only, can be challenging: It is doomed to fail from time to time and will inevitably drift in the long run. We accept this fact and present methods to cope with and correct the effects for an autonomous MAV using an RGBD camera as its main sensor. We propose correcting drift and failure in visual odometry by combining its pose estimates with...
This paper discusses the design and implementation of a light-weight thermal camera payload for small fixed-wing UAVs with a pan/tilt mechanism and georeferencing based on a simple autopilot's GPS and IMU. Further, an effective and simple method to accurately calibrate a thermal camera is developed and tested. In order to evaluate the accuracy of the georeferencing algorithm, a test flight was conducted...
Rapid evolution of the high-performance digital cameras entailed a development of new gigabit interfaces for video streaming and further image processing. A 25 megapixel camera, shooting with 100 frames per second, can easily produce a stream of data reaching tens of gigabits per second. The situation is more complex in case of image processing systems that acquire video stream from many cameras....
High-energy radiation beam is used in radiotherapy to kill the pre-located cancerous cells. No matter how accurately the body is positioned, or which of the chest or abdominal breathing method is used, the cancerous site often moves with the breath. Such motion artifact is an unpredictable factor during the radiotherapy, and introduces risks in damaging surrounding normal tissue. Our previous study...
Imaging methods are an essential tool for improving processing of solar cells. Unfortunately, it is difficult to validate the imaging methods in detail. One focus of our work was to establish an approach by which one can assess the accuracy of the determination of the influence of defects via imaging on CIGS solar cells. The method is, however, not restricted to CIGS and should be easily transferable...
This paper introduces the 5* Magic Wand: a user interface that provides an inexpensive way for input of 3D data. Drawing upon the metaphor of the "wizard", a user can point to places, perform gestures and cast "spells" to interact with the computer. We describe a computer vision technique that tracks the wand with 5 degrees of freedom. A prototype implementation, composed of a...
This paper exploits some novel issues to design future ubiquitous services to integrate fictionality into the real world. We first discuss that incorporating fictionality is a new promising direction to enhance the ubiquitous services. Then, we show two case studies that we have developed to discuss the aspect, and present that some pitfalls in the case studies and maintaining the realness on the...
Although automatic personality analysis has been studied extensively in recent years, it has not yet been adopted for real time applications and real life practices. To the best of our knowledge, this demonstration is a first attempt at predicting the widely used Big Five personality dimensions and a number of social dimensions from nonverbal behavioural cues in real-time. The proposed system aims...
There is a large interest on performing elderly care monitoring using Computer Vision. It has the potential to provide a better scene understanding than current sensing approaches at an affordable price, but there are still considerable practical challenges that have limited its deployment. The BAM descriptor is a privacy-conscious, calibration-free representation of a singleperson bed obtained from...
Gaze of the human eye may act as a communication medium for limb disabled people to interact with computers. In order to determine gaze direction, the first necessary step in image processing is segmentation of iris from entire eye image. In this paper Daugman's algorithm is implemented that uses Integro Differential Operator (IDO) to differentiate iris boundary from sclera part of eye and to find...
Semi-transparent mirror with hidden camera was developed in the EU funded Biomedical Engineering Competence Centre. Embedded computer algorithms detect and track faces, recognize persons in front of the mirror, and assess their skin color consistently and their emotions in real time.
Our faculty has recently managed to buy a Turtlebot 2 robot. The final aim of the project is to develop a low-cost home support robot that will be capable of executing simple tasks, such as locating and fetching known objects while avoiding obstacles that can be found in a typical home environment. This paper is about our first steps in the TekiControl project: it describes the basic principles and...
To improve the accuracy of implant placement in Total Hip Replacement (THR) surgeries, this paper proposes a computer-aided visual system for THR which is composed of a customized acetabular cup, a multi-sensor femoral head trial and a computer for data processing and display. The customized trial is of the same size as the real prosthesis. An image sensor, a gyroscope and an e-compass (including...
This paper proposes a 3D real-time video-teleconferencing system over IP broadband networks. The video capturing uses two synchronized cameras positioned side by side in front of the person who will communicate, in order to compute his or her three dimensional information to be transmitted to the remote side. The system also has a module for IP transmission of audio and video, and a module for 3D...
Annual increases in workstation capacity suggest that today between 5 and 15 times the computing power of 1994 should be available at roughly comparable costs. It there by becomes possible for a normal laboratory to provide at least approximately the computing power required for machine-vision-based control of robots. Experience with an experimental cell for automatic disassembly of used cars illustrates...
This study aimed to investigate an establishment using an Intelligent System which employed an Embedded System and Smart Phone for chicken farming management and problem solving using Raspberry Pi and Arduino Uno. An experiment and comparative analysis of the intelligent system was applied in a sample chicken farm in this study. The findings of this study found that the system could monitor surrounding...
In Automatic Speech Recognition (ASR), the presence of Out Of Vocabulary (OOV) words or sounds, within the speech signal, can have a detrimental effect on recognition performance. One common method of solving this problem is to use filler models to absorb the unwanted OOV utterances. A balance between accepting In Vocabulary (IV) words and rejecting OOV words can be achieved by manipulating the values...
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