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Our research has been focused on developing an interaction between humans and robots to enhance an intellectual action of the service robots. From our previous research, we have constructed a model of mechanism of consciousness and behaviors, this software architecture is called Consciousness-Based Architecture (CBA). Furthermore, the robot should select the action and express the emotion by itself,...
Existing robot localization methods often rely on particular characteristics of the environment, such as vertical walls. However, these approaches loose generality once the environment does not show that structure, e.g., in domestic environments. This paper addresses the problem of absolute online self-localization in a known map, where the only required structure in the environment is a planar ground...
In this paper we study pose estimation for non-central cameras, using planes. The method proposed uses non-minimal data. Using the homography matrix to represent the transformation between the world and camera coordinate systems, we describe a non-iterative algorithm for pose estimation. In addition, we propose a parameter optimization to refine the pose estimate. We evaluate the proposed solutions...
In this paper, we present an optimal sensor management technique for an Unmanned Aerial Vehicle (UAV) to autonomously geo-localize multiple mobile ground targets. The target states are continuously estimated using target locations asynchronously captured by a gimbaled camera with a limited field of view and processed with a set of Extended Kalman Filters (EKFs). The technique incorporates a Dynamic...
This paper proposes a vision-based target following and landing system for a quadrotor vehicle on a moving platform. The system is consisted with vision-based landing site detection and locating algorithm using an omnidirectional lens. Latest smartphone was attached on the UAV and served as an on-board image acquisition and process unit. Measurements from the omnidirectional camera are combined with...
In this paper, we propose a novel inertial-assisted visual odometry system intended for low-cost micro aerial vehicles (MAVs). The system sensor assembly consists of two downward-facing cameras and an inertial measurement unit (IMU) with three-axis accelerometers/gyroscopes. Real-time implementation of the system is enabled by a low-cost embedded system via two important features: firstly, simple...
We propose and evaluate a novel methodology to identify the rolling shutter parameters of a real camera. We also present a model for the geometric distortion introduced when a moving camera with a rolling shutter views a scene. Unlike previous work this model allows for arbitrary camera motion, including accelerations, is exact rather than a linearization and allows for arbitrary camera projection...
Intelligent robot for improving the quality of human life is desirable. To let robot perform the intelligent functions of massage which can serve for humans, adaptive massage trajectory generator is needed to suit for different body shape with different people. Base on the state of the art human pose recognition techniques, we develop a methodology to build the relationship between camera and human...
A potential loop-closure image pair passes the geometric verification test if the number of inliers from the computation of the geometric constraint with RANSAC exceed a pre-defined threshold. The choice of the threshold is critical to the success of identifying the correct loop-closure image pairs. However, the value for this threshold often varies for different datasets and is chosen empirically...
In this paper the problem of estimating the relative orientation and position between a camera and an object is investigated. It is assumed that both the camera and the object are provided with an Inertial Measurement Unit (IMU) capable of measuring their attitude with respect to the gravity and the earth magnetic vectors. Furthermore, the object is assumed to contain a feature of n points, the position...
HDR synthesis using the minimal number of source images is crucial for real-time applications. This paper identifies the color distortion problem associated with the minimum of two source images, and proposes a solution using the virtual frame composed in the pixel domain. Experimental results demonstrate satisfactory results.
In this paper we present the enhancement of an existing closed-form solution for metric velocity determination utilizing monocular images in combination with accelerometer and gyroscope measurements. While the original version of this algorithm depends on external attitude information for gravity compensation, our solution allows for gravity compensation through the addition of magnetometer measurements...
Camera pose estimation from image is one of the key issues in computer vision. Most existing approaches need embed a visual mark in the object's texture for camera pose estimation. However, a visual mark spoils the unity of the image. This paper introduces a novel pose estimation method using the spatial frequency domain analysis. In this method, the high frequency marker that is hard to distinguish...
Currently most of UAV navigation systems are composed of GPS/INS integrated navigation. To give a alternative navigation method when GPS doesn't work on UAV, a machine vision-aided navigation method is proposed to navigate the UAV with INS. Image Stitching as the core technology is to build real-time ground panoramic image. Combined with GPS latitude and longitude information, certain data fusion...
This paper presents an approach, using a screen camera closely fixed above the eye to measure and correct the head movement errors, which might free the chin-rest support in eye tracking. The captured screen images, which are warped due to free head movement, could be restored back to the original by applying 3D forward as well as inverse projective mapping. The projective mapping notation and the...
In this paper, we propose an affine parameter estimation algorithm from the block motion vectors for extracting accurate motion information with the assumption that the undergoing motion can be characterized by an affine model. In this method the spurious motion vectors are discriminated from the genuine ones using specific error detection criteria. The proposed method has two notable features: firstly,...
Comphotogrammetry is a "coined word" that describes the merger of camera communications and photogrammetry in which LED lights self-identify their location within a photographic image using camera communications. Camera communications (CamCom) is defined as the transmission of data via an LED light that is received via a camera image sensor. Multiple lights on a vehicle can be modulated...
As every field is going to be advance in and each field use an upcoming technology, the oral medicine are also updating the instrument for measuring the dimension of teeth for proper alignment at proper place, there are many instrument which are used to calculate the parameters of teeth for line analyzer, but the calculated value considered was not in point fraction which had lead to improper data...
A vision-based pose estimation technique for a pipe crawling robot moving inside a pipe is presented with applications in quality control and inspection. The robot carries an on-board sensor that comprises of a Collimated Laser, a 45-degree conic mirror, and a camera with a wide-angle fish-eye lens. The laser reflected on the mirror would project as a circle on the inner wall of the pipe. This would...
This paper presents a novel method of camera parameters calibration for obstacle distance measurement based on monocular vision. In this method, resolving camera parameters have been decomposed into two linear equation sets, which has significantly reduced computing complexity and improved computing speed. The ideal pinhole imaging model of obstacle has been demonstrated, then the linear equations...
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