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UGVs are required to have the functions of environmental awareness, recognition and self-avoidance obstacles. Recognition is one important part. In this paper, size calculation methods for obstacles based on a new line structured light sensor are proposed. The detecting distance of this sensor for concave and convex obstacles and water hazards is about 100 meters. Recognition principles of obstacles...
A technique for the acquisition of an increased number of pupil positions, using a combined sensor consisting of a low-rate camera and a high-rate optical sensor, is presented in this paper. The additional data are provided by the optical movement-detection sensor mounted in close proximity to the eyeball. This proposed solution enables a significant increase in the number of registered fixation points...
This paper proposes an approach that predicts the road course from camera sensors lever-aging deep learning techniques. Road pixels are identified by training a multi-scale convolutional neural network on a large number of full-scene-labeled night-time road images including adverse weather conditions. A framework is presented that applies the proposed approach to longer distance road course estimation,...
This paper proposes an online extrinsic camera calibration system able to determine the pitch and roll angle of a moving, forward-looking camera relative to the road surface. Some road surfaces do not show enough texture to allow reliable optical flow calculation and accurate per-frame pitch and roll estimations, respectively. If inaccurate per-frame estimations are regarded in the final calibration,...
Optical wireless communication (OWC) has recently been considered as one of the efficient and supportive technologies in automotive applications that drive attraction both in R&D and in their practical applications. Exchanging information about the relative directional position of each vehicle together with front and rear-facing direction is significant for fast, accurate and reliable communication...
We present the localization approach for Astrobee, a new free-flying robot designed to navigate autonomously on the International Space Station (ISS). Astrobee will accommodate a variety of payloads and enable guest scientists to run experiments in zero-g, as well as assist astronauts and ground controllers. Astrobee will replace the SPHERES robots which currently operate on the ISS, whose use of...
Obstacle detection by monocular vision is challenging because a single camera does not provide a direct measure for absolute distances to objects. A self-supervised learning approach is proposed that combines a camera and a very small short-range proximity sensor to find the relation between the appearance of objects in camera images and their corresponding distances. The method is efficient enough...
Proximity and distance estimation sensors are broadly used in robotic hands to enhance the quality of grasping during grasp planning, grasp correction and in-hand manipulation. This paper presents a fiber optical proximity sensor that is integrated with a tactile sensing fingertip of a robotic hand of a mobile robot. The distance estimation of proximity sensors are typically influenced by the reflective...
We observe that in many applications, the motion present in a scene is well characterized by a small number of (rigid) motion hypotheses. Based on this observation, we present rigid multi-motion optical flow (RMM). By restricting flow to one of several motion hypotheses, RMM produces more accurate optical flow than arbitrary motion models. We evaluate an algorithm based on RMM on a novel synthetic...
This paper presents a new approach whichbuilds 360-degree cylindrical panoramic images from multiple cameras. In order to ensure a perceptually correct result, mosaicing typically requires either a planar or near-planar scene, parallax-free camera motion between source frames, or a dense sampling of the scene. When these conditions are not satisfied, various artifacts may appear. There are many algorithms...
Cheap RGB-D sensors are ubiquitous in robotics. They typically contain a consumer-grade color camera that suffers from significant optical nonlinearities, often referred to as vignetting effects. For example, in Asus Xtion Live Pro cameras the pixels in the corners are two times darker than those in the center of the image. This deteriorates the visual appearance of 3D maps built with such cameras...
Traditionally, optical positioning has been an area that attracted significant interest for specialised applications such as robotic navigation. With the recent development and integration of cameras in mobile devices, optical positioning is gaining further interest in indoor positioning applications targeting human navigation. Furthermore, the release of the Google Tango platform has attracted the...
Under GPS-denied conditions, an inertial navigation diverges easily due to integration drift in the measurement of acceleration and angular velocity. Therefore, a terrain relative navigation (TRN) is applied to correct the drift error for precise lunar landing mission. Diverse sensors are used for the TRN in these days, such as a Light and Detection and Ranging (LIDAR), laser altimeter, and optical...
This paper presents the possibility of using optical measuring system ARAMIS for reinforced concrete beams behaviour studies. Measurements of spatial deformations (horizontal displacements and rotation of the cross section) and cracking process (width and number of cracks) of these elements were taken into account. Such measurements are very difficult to do with the use of traditional methods. System...
Asymmetric dual camera system needs a preprocessing for registration in two input images due to the difference of brightness and color information. To solve this problem, this paper presents a framework that corrects the brightness and color between two input images. The proposed framework consists of three steps : i) selection of the reference and source images based on the contrast, ii) brightness...
Underwater optical imaging has several drawbacks inherent to the physical medium such as light attenuation and turbidity. Sonars try to obviate those issues although, typically, they have lower resolutions. Combining visual and sonar data in underwater applications is still not popular, but researchers' interest in the topic is growing. However, with the advent of recent higher resolution sonar systems,...
The iterative next step is to test the situational awareness system during real ROV operations in an offshore or marine science setting. We are aligning test times with offshore clients mentioned in the acknowledgements. Data has to be gathered to quantify approximate cost and time savings due to using such a system. Long term reliability data has to be calculated and compared to that of traditional...
This paper presents the bundle adjustment (BA) between a sonar and optical image for an Opti-Acoustic sensor model. An Opti-Acoustic sensor model allows heterogeneous sensor fusion of an optical camera and acoustic sonar that have a mutual supplementary relation. There are two challenges to the Opti-Acoustic method. First, it is difficult to guarantee a common view from the two significantly different...
Underwater high resolution 3D mapping implies a very accurate sensor pose estimation to fuse the sensor readings over time into one consistent model. In the case of optical mapping systems, the needed accuracy can easily lie outside of the specification of Doppler Velocity Logs normally used for pose estimation by remotely operated and autonomous underwater vehicles. This is especially the case for...
The development and usage of Unmanned Aerial Vehicles (UAVs) quickly increased in the last decades, mainly for military purposes. This technology is also now of high interest in non-military contexts like logistics, environmental studies and different areas of civil protection. While the technology for operating a single UAV is rather mature, additional efforts are still necessary for using UAVs in...
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