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Deep sea aquatic animal propulsors are classified into four main categories lift-based propulsion, drag-based propulsion, undualtion mode and jet propulsion. In order to develop combined flapping and undulation mode propulsion for ships and underwater vehicles a brief introduction is given to lift-based propulsors and undulation mode. Combined bio-mimetic flapping and undulation mode propulsion systems...
A 3-dimensional augmediated reality (AR) environment was designed, where users can physically walk through space, and by looking through AR glasses can see and interact with hidden veillance flux produced by cameras. Surveillance cameras, physically attached to a room, as well as handheld and body-worn cameras, each emit veillance flux and have a veillance field — a mathematical formulation of their...
To achieve a usable range measurement feature using a Vehicle-Mounted monocular camera for ADAS (Advantage Drive Assist System), a pitch angle estimation with high accuracy is required. We propose a method for estimating pitch angle with a non-occurrence of cumulative error, and the initial pitch angle can be estimated simultaneously with only a Vehicle-Mounted monocular camera. We use the Harris-corner...
The focus of this work is addressing the challenges of performing object recognition in real world scenes as captured by a commercial, state-of-the-art, surveying vehicle equipped with a 360° panoramic camera in conjunction with a 3D laser scanner (LIDAR). Even with state-of-the-art surveying equipment, there is colour saturation and very dark regions in images, as well as some degree of time-varying...
Some aerial tasks are achieved more efficiently and at a lower cost by a group of independently controlled micro aerial vehicles (MAVs) when compared to a single, more sophisticated robot. Controlling formation flight can be cast as a two-level problem: stabilization of relative distances of agents (formation shape control) and control of the center of gravity of the formation. To date, accurate shape...
Visual markers are useful tools assisting visual recognition of object pose in robotic applications. But they have two fundamental problems in orientation estimation. One is degradation of orientation accuracy in frontal observation. The other is “pose ambiguity” that the orientation cannot be determined uniquely. We previously developed a novel visual marker “LentiMark” which solves the former problem...
In this paper, we present a new approach to spatially self-organize a modular artificial skin in 3D space. We were motivated by the demand to efficiently and automatically acquire the position and orientation of a steadily growing number of artificial skin sensor elements. Here, we combine our 3D surface reconstruction algorithm for individual patches of artificial skin, with a common active visual...
The integration of several range cameras in a mobile platform is useful for applications in mobile robotics and autonomous vehicles that require a large field of view. This situation is increasingly interesting with the advent of low cost range cameras like those developed by Primesense. Calibrating such combination of sensors for any geometric configuration is a problem that has been recently solved...
In this paper, we address the visual servoing problem of robot manipulators with eye-in-hand cameras. To servo-control the image position of a feature point, traditional image-based controllers require the computation of the point's position vector with respect to the camera's frame. However, when the point's location is uncertain, the stability of traditional visual servoing controllers can not be...
This paper presents a camera control approach for learning unknown nonlinear target dynamics by approximating information value functions using particles that represent targets' position distributions. The target dynamics are described by a non-parametric mixture model that can learn a potentially infinite number of motion patterns. Assuming that each motion pattern can be represented as a velocity...
In this article, we address the pose estimation for planar motion under the framework of generalized camera models. We assume the knowledge of the coordinates of 3D straight lines in the world coordinate system. Pose is estimated using the images of the 3D lines. This approach does not require the determination of correspondences between pixels and 3D world points. Instead, and for each pixel, it...
In this paper are presented simple and practical solutions to extrinsic calibration between a camera and a 2D laser sensor, without overlap. Previous methods utilized a plane or an intersecting line of two planes as a geometric constraint with enough common field-of-view. These required additional sensors to calibrate non-overlapping systems. In this paper, we present two methods for solving the problem...
The Point-and-Shoot Face Recognition Challenge (PaSC) is a performance evaluation challenge including 1401 videos of 265 people acquired with handheld cameras and depicting people engaged in activities with non-frontal head pose. This report summarizes the results from a competition using this challenge problem. In the Video-to-video Experiment a person in a query video is recognized by comparing...
Aiming at the passive ranging to the non-cooperate target, the passive ranging algorithm based on the image sequence is proposed. The analysis on the image matching algorithms were performed, including SIFT, SURF, and ASURF. In which, the SURF algorithm is better method in our system becouse of the real time and precision. It can find plenty of special regions from the target images grabbed at real...
In this paper, we investigate the problem of reliable detection and localization of active sound source using a new fusion approach of the vision and the acoustic data. The usefulness of the solution is fundamental for both video surveillance and video conference systems. In this aim, we propose combining the two heterogeneous modalities of data by augmenting the 3-D vector of RGB colors used by the...
With the introduction of surround view cameras in modern vehicles and the possibility of calculating dense motion fields in real-time from a moving camera a detailed 3D reconstruction of the static environment is possible (structure-from-motion). Beside the necessity of a motion field between two image frames the task of triangulating those individual 2D point matches to 3D points in the world becomes...
Due to availability of reliable and low cost devices, range maps (depth maps) are extensively used in many applications. Recent advances in human-computer interaction enabled us to interact with computers in intuitive and friendly way. In this paper, we propose a novel approach for recognizing static hand gestures using depth information captured from Photon Mixing Device (PMD) cameras. We segment...
In this paper, we present a real time 3D SLAM system for texture-less scenes using only the depth information provided by a low cost RGB-D sensor. The proposed registration method is based on a novel informative sampling scheme that is able to extract the points carrying the most useful information from two consecutive frames. Those points are assigned 3D feature descriptors and matched with their...
This paper examines the problem of transfer learning in the context of object recognition in a heterogeneous robot team. We specifically look at the case where robots individually learn object classifiers and must then transfer the resulting learned knowledge to another robot. Recent trends in computer vision and robotics have moved towards feature representation learning, where the underlying feature...
Following recent works on HRI for UAVs, we present a gesture recognition system which operates on the video stream recorded from a passive monocular camera installed on a quadcopter. While many challenges must be addressed for building a real-time vision-based gestural interface, in this paper we specifically focus on the problem of user personalization. Different users tend to perform the same gesture...
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