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This paper provides a substation live working robot system, which consists of mobile insulation lift platform, six degree of freedom hydraulic manipulator, master control system and live working tools. It can assist or replace the manual to complete some special live-working, such as insulator cleaning, RTV spraying, Insulator detection, Nitrogen flushing. The successful application of the robot provides...
This work describes a method to extend classical maps in terms of additional information and a prediction about objects within the environment. The prediction system is based on the behaviour of the observed objects and influences accordingly the updating of the map. First all objects are classified due to their size and further parameters characterizing the ability to move. Furthermore the velocity...
The purpose of this paper is to illustrate an Internet of Everything based integrated security system for archaeological areas capable of ensuring visitors security, cultural heritage preservation/protection and great usability for visitors, with particular reference to visitors with disabilities. Genetic Algorithms (GAs) have been used to design the integrated security system, in particular for fields...
There is a growing number of incidents related to using cell phones while walking on the street. To address this issue, this paper proposes a new system based on tactile paving detection on the sidewalk to alert distracted mobile users to avoid traffic hazard. Our system (namely Inspector) is deployed as an application on an off-the-shelf normal mobile phone equipped with back camera. Inspector plays...
Dipstick-based urinalysis is routinely used for detection of early signs of such pregnancy complications, as preeclampsia and gestational diabetes. Usually it is done in doctor's office using an automatic dipstick analyzer. Here we present a novel smartphone-based colorimeter and demonstrate its application to the measurements of glucose and protein concentrations in biological samples. The key innovations...
This paper studies the problem of scheduling sensors for target coverage in a surveillance environment. In this problem, coverage of target areas must be guaranteed during the system timeframe. First, we formulate an independent scheduler of sensors, where scheduling at each time epoch is independent from the sensing patterns among all sensors during the timeframe. Then, we formulate a cooperative...
A wide image mosaic and measure algorithm ofmobile mapping system (MMS) has been proposed in this paper. Through constructing the cylinderical panorama projectionrelationship of triple original digital measurable images (DMIs), the wide image has been mosaiced directly. The correspondingrelationship between wide image and object space coordinate hasbeen constructed by utilizing back projection relationshipbetween...
We present a framework for interactive real-time visualization of three-dimensional volume data on commodity augmented reality (AR) displays. In particular, we address the problem of seamlessly blending internal anatomy data sets with real-world objects. One key challenge, particularly relevant to this scenario, is conveying the correct sense of relative depths of virtual and real world objects. To...
Using depth information has become more popular in recent years, as it adds a new dimension to 2D camera views. We have developed a novel mobile application called iRay, which uses depth information to achieve highly accurate markerless registration on a mobile device for medical use. We use a Structure Sensor to capture depth information that is portable to iPad. Its SDK also provides SLAM data to...
In gaming, customizing individual characters, can create personal bonds between players and their characters. Hence, character customization is a standard component in many games. While mobile Augmented Reality (AR) games become popular, to date, no 3D character editor for AR games exists. We investigate the feasibility of 3D character customization for smartphone-based AR in an iterative design process...
We present a scheme for multi-sensor data fusion applications, called Relative Pose based Redundancy Removal (RPRR), that efficiently enhances the wireless channel utilization in bandwidth-constrained operational scenarios for RGB-D camera equipped visual sensor networks. Pairs of nodes cooperatively determine their own relative pose, and by using this knowledge they identify the correlated data related...
This paper introduces a user-centered Augmented Reality (AR) approach for publishing 2D media archives as interactive content. We discuss the relevant technical considerations for developing an effective application for public outdoor AR experiences that leverage context-specific elements in a challenging, real-world environment. Specifically, we show how a classical marker-less approach can be combined...
The KinectFusion algorithm is now used routinely to reconstruct dense 3D surfaces at real-time frame rates using a commodity depth camera. To achieve robust pose estimation, the method conducts the frame-to-model tracking during camera tracking that must inevitably accompany the memory-bound, GPU-assisted volumetric computations for the model manipulation, to which mobile processors are often more...
Common spatial augmented reality techniques use video projection to superimpose virtual information over a physical scene. As the augmentation happens directly in the real world, multiple users can see the augmented scene, however, the augmentation is the same for all users. We introduce EgoSAR, a new approach that makes it possible to have a personalized, view-dependent augmentation, in multi-user...
Selecting local features is crucial in generating robust compact descriptors for mobile visual search. The state-of-the-art MPEG Compact Descriptors for Visual Search (CDVS) standard has utilized the intrinsic characteristics (e.g., scale, orientation, peak, center distance, etc.) of interest points to select salient local features for selective aggregation and compression of local feature descriptors...
Over the last few years, the number of remote patient monitoring (RPM) products and of videoconferencing systems has exploded. There is also a significant number of research initiatives addressing the use of service robots for assistance in daily living activities. From a technological standpoint, providing telehomecare services is certainly feasible. However, one technological barrier is to have...
In this article we describe an approach for object detection and pose estimation from stereo RGB frames for robot manipulation in manufacturing scenarios. This solution was developed in the framework of the second challenge of the EuRoC project, and meets the need of a registration method invariant to the view perspective and robust to the structural symmetries and ambiguities of the target objects...
This paper addresses the complex problem of recognising threat situations from videos streamed by surveillance cameras. A behaviour recognition approach is proposed, which is based on a semantic recognition of the event. Low-level tracking information is transformed into high-level semantic descriptions mainly by analysis of the tracked object speed and direction. Semantic terms combined with automatically...
Mobile cameras on robotic platforms can support fixed multi-camera installations to improve coverage and target localization accuracy. We propose a novel collaborative framework for prioritized target tracking that complement static cameras with mobile cameras, which track targets on demand. Upon receiving a request from static cameras, a mobile camera selects (or switches to) a target to track using...
Although gesture-based input and augmented reality (AR) facilitate intuitive human-robot interactions (HRI), prior implementations have relied on research-grade hardware and software. This paper explores using tablets to render mixed-reality visual environments that support human-robot collaboration for object manipulation. A mobile interface is created on a tablet by integrating real-time vision,...
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