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Surgical instrument sorting is a repetitive work with a high risk of infection, which requires medical staffs to classify them after cleaning. Currently, the surgical instrument sorting is usually accomplished by medical staffs' manual operation. It is a time costing work, which may cause operators' fatigue even classification errors. Meanwhile, surgical instruments are relatively sharp and often...
In this paper, the service robot named “BlackBot” as receptionist robot is descried, that is a small three-wheeled mobile platform with a differential drive, which was controlled by a mini PC. The BalckBot could sense its surroundings with the aid of various electronic sensors while mechanical actuators were used to move it around. Robot's behavior was determined by the program, which was loaded to...
In this paper, a deep learning network is investigated to detect moving targets for a UAV equipped with monocular camera. An algorithm based on fully convolutional network is proposed to obtain the position and moving direction of targets. A Kalman filter is incorporated into the proposed algorithm to increase the accuracy of target position information acquisition. The experimental results show the...
Sorting is one of the important tasks in production line and it has an appreciable effect to the homogeneous of products. Using vision system to increase productivity in automatic sorting system has attracted many researchers. In this paper, a vision sorting system based on computer that can identify the position and properties of fruits has been recommended. The sorting system uses the high resolution...
Material recognition for real-world outdoor surfaces has become increasingly important for computer vision to support its operation in the wild. Computational surface modeling that underlies material recognition has transitioned from reflectance modeling using in-lab controlled radiometric measurements to image-based representations based on internet-mined images of materials captured in the scene...
Segmenting 3D objects from a set of disordered point cloud is always one challenge work in Bin-pi cking systems. In this paper, an easy and valid algorithm is proposed to solve this problem. The point data set obtained from a low-cost depth camera, RealSense, can be quickly filtered to be a much clean compact one, significantly saving the computing resources. The filtered points set is next divided...
Crack inspection is one of the most important tasks for concrete bridge monitoring. Traditionally, human-based inspection systems using people's eyes are unsafe and costly. To overcome this problem, a novel unmanned aerial vehicle (UAV) based inspection system is developed to detect cracks on the lateral sides and underside of bridges. Applying obstacle avoidance modules, UAV can reach bridges' lateral...
Currently, the only mass-market service robots are floor cleaners and lawn mowers. Although available for more than 20 years, they mostly lack intelligent functions from modern robot research. In particular, the obstacle detection and avoidance is typically a simple physical collision detection. In this work, we discuss a prototype autonomous lawn mower with camera-based non-contact obstacle avoidance...
This paper presents a learning-based method for recognizing chess pieces from depth information. The proposed method is integrated in a recreational robotic system that is designed to play games of chess against humans. The robot has two arms and an Ensenso N35 Stereo 3D camera. Our goal is to provide the robot visual intelligence so that it can identify the chess pieces on the chessboard using the...
Previous studies of robots used in learning environments suggest that the interaction between learner and robot is able to enhance the learning procedure towards a better engagement of the learner. Moreover, intelligent robots can also adapt their behavior during a learning process according to certain criteria resulting in increasing cognitive learning gains. Motivated by these results, we propose...
We present an anomaly detection system based on an autonomous robot performing a patrol task. Using a generative adversarial network (GAN), we compare the robot's current view with a learned model of normality. Our preliminary experimental results show that the approach is well suited for anomaly detection, providing efficient results with a low false positive rate.
Structured light vision is now widely used in weld seam detection for arc welding robot due to its simple structure, high precision, low cost, and real-time characteristic. By taking use of optical triangulation measurement principle, the position of welding seam is able to be measured. Calibration is one of the crucial step before structured light vision can be actually used in the welding system...
This paper proposes a method of vision based pose estimation of randomly piled objects. It is necessary to estimate precise rotation angle of picking objects. However, it is non-trivial task because an object placed in every position makes distorted image far from right position image. We propose a precise pose estimation method of bin picking objects. The landmark feature of a picking object is extracted...
This paper presents a six degree of freedom position regression CNN (convolutional neural network) based on Google's Inception-V4 CNN. This network is then evaluated quantitatively and compared to previous state-of-the-art position regression CNNs. Our model achieves a 22% and 51% relative improvement compared to previous state-of-the-art methods for position and orientation accuracy respectively...
In recent years, mobile terminals come to be used to assist works. However, we can not say that they are enough suitable to assist works either that occupy hands or that are accomplished in environment with water or fire, which cause troubles with electronic devices. In this study, in order to solve this problem, we propose an assist system using projection mapping and NUI. Note that our system is...
Computer vision based detection can be used to identify hand gestures and movement and use these commands in order to implement a control system for a robotic platform. This paper presents the technical implementation of a hand movement and gesture detection system based on two VGA USB cameras and the control of a customizable robotic platform using the commands transmitted from a computer after image...
We summarize a method to generate a synthetic learning set for object pose estimation in robotic manipulation tasks. Exploiting modern computer graphics techniques, our synthetic learning set satisfies the requirements both in quantitative diversity and qualitative precision. We report the partial results of initial experiments and discuss some future research directions.
In this paper, a fully-autonomous quadrotor aerial robot for solving the different missions proposed in the 2016 International Micro Air Vehicle (IMAV) Indoor Competition is presented. The missions proposed in the IMAV 2016 competition involve the execution of high-level missions such as entering and exiting a building, exploring an unknown indoor environment, recognizing and interacting with objects,...
Unmanned Aerial Vehicles (UAVs) exhibit great agility and usually require a trained pilot to operate them, while being restricted to line-of-sight range. This prevents their wide introduction in applications such as inspection for disaster scenarios. Our goal is to enable rescue teams untrained in piloting to teleoperate a UAV as an aid to their mission, while being able to focus on the task at hand...
It is necessary for a long-range space rover to model its 3D environment in order to identify drivable roads while avoiding obstacles and hazards. We present a method of modeling a 3D environment, while identifying drivable roads and obstacles, by accumulating a sequence of point clouds from stereo. The technical issues we deal with are how to avoid error accumulation in registering point clouds using...
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