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A major mechanism in mid- to high-frequency acoustic propagation and reverberation in littoral environments is the scattering from rough interfaces at the boundaries of the waveguide. Although methods have been developed to measure the interface roughness in order to quantify the scattering, many of these methods are limited in resolution or difficult to employ over a large area. In this study, a...
Underwater Object Localization is widely used in the industry in Autonomous Underwater Vehicles (AUV), both in sea and lake environments for various applications. Sonars and Cameras are popular choices for this, but each sensor alone poses several problems. Data extraction from Optical Cameras underwater is a challenge due to poor lighting conditions, hazing over large distances and spatio-temporal...
Japan Agency for Marine Earth Science and Technology (JAMSTEC) has started a new project “submarine resource research project” in April 2011. We decided to advance the development of work class ROV “KAIKO Mk-IV” as fourth KAIKO's vehicle applied for submarine resource exploration. “KAIKO Mk-IV” construction started in April 2011 and it completed in March 2013. Then, its sea trials have been carried...
This paper presents a hybrid visual servo controller for underwater vehicles by exploiting a combination of measured Euclidean information and image information of a single feature. A dynamic inversion-based neural network control scheme is proposed for tracking of the reference trajectory generated from a constant target pose. A single-hidden-layer (SHL) feedforward neural network, in conjunction...
In June 2015, the MARUM - Center of Marine Environmental Sciences at the University of Bremen, has put a new 2000 m ROV system into service - the MARUM-Squid. MARUM-Squid, manufactured by SAAB Seaeye (UK), is a “Leopard” type light, electrical workclass ROV. The system was designed as powerful, yet compact ROV system for deployments from small vessels. The complete system can be shipped inside a single...
Advanced surface surveillance capabilities have been shown to dramatically improve surface safety and aid in situation awareness, but these capabilities cannot be economically justified for small and medium airports. The MITRE Corporation has developed a concept for Low Cost Surface Awareness, built upon the use of commercial-off-the-shelf infrared cameras, computer vision processing, and georeferencing...
The capability of automated vehicles with intelligent on-board systems aimed at improving traffic safety has been in constant advance. This paper proposes an integrated module of lane and vehicle detection for a forward collision warning system that can be embedded in an autonomous driving system operating in real time. Integration of lane and vehicle detection provides more precise information for...
This article studies the smoke and exhaust detection system that has been developed for monitoring exhaust gases to enforce environmental laws and regulations. In many highly populated countries the HSU (Hart ridge Smoke Unit) grade is used to impose penalties. In many cases, HSU values over 40 … 50 are leading to legal actions.
In this paper, we tackle the challenge of developing a stereovision-based driving assistance system for collision avoidance on a mobile device. This novel system is aimed to work in an urban environment, where a driver experiences lots of stop and go situations. In cities, rear-end accidents are the most common type of accidents, since a momentary lapse of concentration can lead to unsafe headway...
Autonomous Vehicles require accurate environment information in order to perform scene understanding with very high accuracy. For this reason, we must design perception algorithms that are robust and must perform in any environmental and weather conditions. Since fog is one of the most dangerous weather phenomena for driving we propose an embedded solution that is able to restore the contrast of images...
Advanced Driver Assistance System or ADAS is used in vehicles to make driving as safe as possible. For that reason ADAS uses sensors, lidars, radars and cameras to enable vehicles to perceive everything that surrounds them. So many different components require processing and analyzing large amounts of data. This paper proposes layered architecture for software which collects data from ultrasonic sensors,...
Safety in a travel is a very important factor we consider in our day today life because we live in a very dynamic and a busy lifestyle. As a result the tendency of making failures in critical moments could create a fatal mistake and it could lead even to lose lives. To ensure maximum safety nowadays the researches and design engineers put their maximum efforts. The technology adopts to enhance daily...
This document describes a distance measurement system for underwater applications with computer vision and an Artificial Neural Network (ANN). The developed system is installed in the observation class remotely operated vehicle (ROV) Visor3, to be used in experimental testing. An integrated camera with two laser pointers are used to obtain input data to a Multi-Layer Perceptron (MLP) ANN, trained...
The application of clinical decision support system can effectively solve the limitation of the clinician's knowledge, can easily help doctors to collect patient's data, diagnose, treat and prevent of disease. Clinical decision support system has not been widely used in clinical practice, there are two reasons. First, at present, most of the hospital's information systems do not have integrated clinical...
The percentage of false alarms caused by spiders in automated surveillance can range from 20–50%. False alarms increase the workload of surveillance personnel validating the alarms and the maintenance labor cost associated with regular cleaning of webs. We propose a novel, cost effective method to detect false alarms triggered by spiders/webs in surveillance camera networks. This is accomplished by...
We extract 3D curb from video sequence, using a single camera equipped with fish-eye lens and located at the front/rear of the vehicle. The challenge in extracting curbs from images lies in their small size and their lack of texture. We show that by appropriately exploiting appearance features, 3D geometry, and temporal information, one can reliably detect and localize the curbs in the 3D scene. The...
Distance estimation for marine vessels is of vital importance to unmanned ship vehicles (USVs) for navigation and collision prevention. This can be achieved by means such as radar or laser sighting. However, due to constraints of the USV, it may be desired to estimate distance using a monocular camera. In this paper, we propose a method that, given a video of a marine vehicle in a maritime environment...
This paper presents a development algorithm of hemi-cylinder projection plane applied in panorama view of AVM applications. This projection plane is established to maintain the FOV in horizontal axis. The calibration parameters are estimated with OcamCalib toolbox, and comparison of keypoint detection are showed as experimental results. Our panorama view stitching with homography matrix calculated...
In this paper, we propose the dense disparity map-based pedestrian detection method for intelligent vehicle. The dense disparity map is utilized to improve the pedestrian detection performance. Our method consists of several steps namely, obstacle area detection using road feature information and column detection, pedestrian area detection using dense disparity map-based segmentation, and pedestrian...
We develop a robust, unsupervised vehicle tracking system for videos of very congested road intersections in urban environments. Raw tracklets from the standard Kanade-Lucas-Tomasi tracking algorithm are treated as sample points and grouped to form different vehicle candidates. Each tracklet is described by multiple features including position, velocity, and a foreground score derived from robust...
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