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In this paper, an obstacle avoidance strategy using monocular gray-scale robotic vision for turbid water environments is presented. Biologically inspired by the unique vision system of the cubozoan, or box jellyfish, the proposed obstacle avoidance techniques were designed to be as computationally inexpensive as possible for implementation in a compact autonomous underwater vehicle with on-board processing...
Micro aerial vehicles (MAVs) are strongly limited in their payload and power capacity. In order to implement autonomous navigation, algorithms are therefore desirable that use sensory equipment that is as small, low-weight, and low- power consuming as possible. In this paper, we propose a method for autonomous MAV navigation and exploration using a low-cost consumer-grade quadrocopter equipped with...
It is extremely difficult for visually impaired people to walk in strange places, because it is extremely challenging for them to know where they are, the direction in which to move, and the destination. Pedestrian navigation systems such as Google Maps have become popular as a result of the evolution and popularization of smartphones and portable tablet devices. However, it is difficult for visually...
In large software projects, it can be hard to understand the actual architecture of the implemented software systems if current design documents are outdated or do not exist at all. For systems based on the OSGi component specification, which are used to build quite large applications with back-end and front-end services, tools for visualizing the actual architecture can help to understand the system...
UAV autonomous landing refers to the UAV lands on only depending on airborne navigation equipment and flight control system, and ultimately achieves a safe landing. To achieve self-landing, UAV must have the ability to selfnavigation and positioning, so that the high-precision visual navigation positioning technology is the key to achieve UAV self-landing technology.This paper concentrating on the...
The HL7 Fast Healthcare Interoperability Resources (FHIR) specification is emerging as a next generation standards framework for the exchange of electronic health records (EHR) data. The rich semantic representation and sophisticated structure definition of the FHIR requires a relatively deep learning curve to understand and utilize. The objective of our study is to design and develop a user-friendly...
The increasing number of robots in home environments leads to an emerging coexistence between humans and robots. Robots undertake common tasks and support the residents in their everyday life. People appreciate the presence of robots in their environment as long as they keep the control over them. One important aspect is the control of a robot's workspace. Therefore, we introduce virtual borders to...
This paper presents a novel method using accelerated KAZE (AKAZE) and Gist for a context-based semantic classification and recognition of indoor scenes used for a vision-based mobile robot. Our method represents spatial relations among categories for mapping neighborhood units on category maps using counter propagation networks (CPNs) while maintaining sequential information of labels generated from...
This paper describes the integration of a scrubbing strategy and a dynamic reconfiguration mechanism within an FPGA-based heterogeneous System-on-chip, intended to be used as a reconfigurable processor for space applications. Scrubbing offers the possibility of detecting and correcting transient errors in the device configuration memory, while dynamic reconfiguration is used either to relocate modules...
This paper aims to study the process of converting the depth information of a real scene captured in a real environment into a tactile representation through a haptic device. We developed a belt-shaped interface with a matrix of 35 (7x5) vibrotactile actuators attached to the users' abdomen. Tests demonstrated that the device can help users to perceive the movement of objects and people, as well as...
This paper presents a novel technique for combining 2D and 2.5D treemaps using multi-perspective views to leverage the advantages of both treemap types. It enables a new form of overview+detail visualization for tree-structured data and contributes new concepts for real-time rendering of and interaction with treemaps. The technique operates by tilting the graphical elements representing inner nodes...
We introduce a neural architecture for navigation in novel environments. Our proposed architecture learns to map from first-person views and plans a sequence of actions towards goals in the environment. The Cognitive Mapper and Planner (CMP) is based on two key ideas: a) a unified joint architecture for mapping and planning, such that the mapping is driven by the needs of the planner, and b) a spatial...
Models of human information seeking reveal that search, in particular ad-hoc retrieval, is non-linear and iterative. Despite these findings, todays search user interfaces do not support non-linear navigation, like for example backtracking in time. In this work, we propose QueryCrumbs, a compact and easy-to-understand visualization for navigating the search query history supporting iterative query...
Interactive infographics are a powerful tool to represent and communicate complex information. In datadriven journalism journalists use interactive infographics to explain new insights and facts while telling complex stories on the basis of retrieved data. However, readers of online news are still unexperienced while using interactive infographics. The results of a user survey among readers of online...
In this paper, a visual navigation system is implemented to control a UAV in unknown and GPS-denied environments, using a monocular camera. The navigation system is based on the Semi-direct Visual Odometry algorithm, whose absolute scale is estimated by fusing visual output with altitude measurements. The main contribution of the paper is the recovery mechanisms to reinitialize the visual map when...
This paper proposes an improvement to FastSLAM. The approach is applicable when the dynamic model describing the motion of the camera has linear sub-structure. The core novelty of the proposed algorithm is to separate the consideration of the camera's dynamic model into two sub-models without constraining the two sub-models to have independent noise processes. In contrast to commonly-used FastSLAM...
Motor relearning after stroke is a lengthy process which should be continued after patients get discharged from the clinic. This project aims at developing a system for telerehabilitation which enables stroke patients to exercise at home autonomously or under supervision of a therapist. The system includes haptic therapy devices which are more promising and beneficial for stroke rehabilitation than...
Metamodelling and model transformation play important roles in model-driven engineering as they can be used to define domain-specific modelling languages. During the modelling phase, modellers encode domain knowledge into models which may include both structural and behavioral aspects of a system. The contribution of this paper is a new web-based metamodelling and model transformation tool called...
Background: Unilateral spatial neglect (USN), a highly prevalent post-stroke impairment, has been strongly associated with poor functional outcomes in self-care and instrumental activities of daily living. Hence, its sensitive detection is crucial. Yet, conventional USN assessments present with significant limitations, often leading to misdiagnosis. Virtual reality (VR) can be used to counteract those...
This preliminary study explored the possibility of influencing participant's navigation when presented with 5 binary choices. Each participant experienced one trial of the 5 fixed ordered conditions. A think-aloud protocol and questionnaires were used to understand perception and behaviour. We conclude with suggestions of further research of understanding visual aesthetics and their influence of human...
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