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This paper describes a camera and hand-eye calibration methodology for integrating an active binocular robot head within a dual-arm robot. For this purpose, we derive the forward kinematic model of our active robot head and describe our methodology for calibrating and integrating our robot head. This rigid calibration provides a closed-form hand-to-eye solution. We then present an approach for updating...
Recently service robots are becoming a part of our daily life. There is a huge market for robot since many human friendly service robots are designed. In this paper we describe a system of Simultaneous Localization and Mapping(SLAM) on restaurant service robot using a depth camera and a move base with odometry and gyro. We create a virtual laser scan from the depth camera, which provides depth image...
With the development of robotic technologies over last decades, the robotic mapping or the simultaneous localization and mapping (SLAM) has got matured correspondingly. The Large-Scale Direct Monocular SLAM (LSD-SLAM) is among the most promising methods in SLAM, which not only locally tracks the motion of the camera, but allows to build consistent and large-scale maps of the environment. In this paper,...
Modern surveillance systems commonly use pan-tilt-zoom camera to monitor the wildlife. With the expansion of monitored area, it is a fundamental problem to acquire clear images of the interested target by controlling camera. In this paper, we propose a kinematics model of a pan-tilt-zoom robotic camera to address this problem. The pan-tilt-zoom camera can be regarded as a special Tele-Observation...
A given six dimensional vector represents a 3D straight line in Plücker coordinates if its coordinates satisfy the Klein quadric constraint. In many problems aiming to find the Plücker coordinates of lines, noise in the data and other type of errors contribute for obtaining 6D vectors that do not correspond to lines, because of that constraint. A common procedure to overcome this drawback is to find...
With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration, as well as Eye-to-Hand calibration, to make sure the whole system functions correctly. We present a framework, using a novel combination of well proven methods,...
Kinematic calibration is of great significance to the application of handling robot in the field of stamping industry. In this paper, a novel kinematic calibration method of a 5-DOF handling robot is proposed based on optimal trajectory planning. In order to illustrate our independently developed mechanical structure composed of three rotary joints and two translational joints, the forward kinematic...
Monocular cameras are not generally considered as a 3D measurement tool in the field of intelligent transportations. This belief limits the application of monocular cameras in many applications such as guiding robots or vehicles for autonomous driving. In this paper, we demonstrate that with the reference of a license plate, a monocular camera can be used as a tool to measure 3 dimensional parameters...
With advancing technologies, robotic manipulators and visual environment sensors are becoming cheaper and more widespread. However, robot control can be still a limiting factor for better adaptation of these technologies. Robotic manipulators are performing very well in structured workspaces, but do not adapt well to unexpected changes, like people entering the workspace. We present a method combining...
People have a strong ability to adapt to the changes of light. And light changes in the natural environment is inevitable. In the past we have proposed eye-vergence visual servoing system. However we did not know how it performs in dark or bright environment. If a visual servoing system has a higher light environmental robustness it will have a wider range of application. Therefore we design tracking...
Motion capture systems are widely used for measuring the position and the orientation of objects. It detects the markers attached to the objects, but they are sometimes lost sight by occlusion and dead angle of sensor. It becomes a problem that markers to determine the coordinates of the object are not measured. Thus, it is necessary to estimate state suppressing the influence of missing measurement...
In this paper we present a new 3D line alignment technique that can be used in limited resourced MAVs for performing loop closures as well as mutual localisation between MAVs. We identify pairs of 3D line matches from RGB-D frames and find the optimal transformation which aligns these two line sets onto each other in order to find the corresponding relative pose. The alignment of the two 3D line sets...
The quadcopter technology has been developed for many years. It has the advantages of light weight, small size, high mobility and autonomy. At present, it is already a proven technology, especially in outdoor environments. As the Global Positioning System (GPS) can provide accurate geographic coordinates for quadcopters, this endows the drones with certain abilities, such as loiter and waypoint navigation...
Automation for slaughterhouse challenges the design of the control system due to the variety of the objects. Realtime sensing provides instantaneous information about each piece of work and thus, is useful for robotic system developed for slaughterhouse. In this work, a pick and place task which is a common task among tasks in slaughterhouse is selected as the scenario for the system demonstration...
The paper is concerned with the multi-robot leader-following problem in the presence of frequent dropouts in vision detection. In many scenarios, for instance a structured environment, it is inevitable to experience outage of vision detection due to reasons such as the target moving out of view, vision occlusion, motion blurring, etc. The paper proposes a Bayesian trajectory estimation based leader-following...
Articulated arm robots have become critical components in the modern manufacturing environment, effectively performing a diverse range of manufacturing tasks. Robots offer flexibility through re-programmability — however, robot programming remains a time consuming task which requires highly skilled operators. Aiming to reduce the required time and complexity of robot programming, this paper presents...
This paper aims to use a fleet of mobile robots, each embedding a camera, to optimize the observation of a human dynamic scene. The scene is defined as a sequence of activities, performed by a person in a same place. Mobile robots have to cooperate to find a spatial configuration around the scene that maximizes the joint observation of the human pose skeleton. It is assumed that the robots can communicate...
Many rescue robots have been developed to search for victims and gather information at disaster sites. Generally, rescue robots are tele-operated using images from a camera mounted on the robots. This study examined the condition of a camera image related to the operability of a robot for a search task in a 2D maze. Indices indicating the amount of information of the camera image related to the robot...
This paper presents a computer vision based system for interaction between multiple humans and multiple robots. Each human can “select” (obtain the undivided attention of) a robot by simply looking directly at it. This extends previous work whereby a single human can select one or more robots from a population. Each robot optimally assigns human identities to tracked faces in its camera view using...
Micromanipulation during live microscopic imaging relies heavily on good manual controls, dexterity, and hand-eye coordination. However, unassisted manual operations in these procedures greatly limit the speed, repeatability, and ease of operation. This is especially challenging in the case of microinjection where the insertion path needs to be in precise alignment with the imaging plane to avoid...
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