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The purpose of this study is to quantify the effect of navigating in a virtual environment (VE) during manual wheelchair propulsion on a haptic simulator. Data analysis was performed on handrim reactions forces and moments in order to compare multiple propulsion conditions. Results show that adding a non-immersive feedback brings propulsion behavior further from what is seen in reality. This effect...
Many attempts are being made to ease navigation for people who are blind, both in terms of spatial learning and of navigation. One promising approach is the use of virtual environments for safe and versatile training. While it is known that humans can transfer non-visual spatial knowledge between real and virtual environments, limitations of these studies typically include results obtained mainly...
Unmanned Aerial Vehicles (UAVs) with high level autonomous navigation capabilities are a hot topic both in industry and academia due to their numerous applications. However, autonomous navigation algorithms are demanding from the computational standpoint, and it is very challenging to run them on-board of nano-scale UAVs (i.e., few centimeters of diameter) because of the limited capabilities of their...
In recent years, see-through display technology has begun to reach a point where we will have the ability to continuously display virtual information in a variety of real world situations. However, augmented reality (AR) interfaces are currently limited in their ability to interact with the wearer and environment to provide specific, safe, and useful information when needed. Moreover, many questions...
This paper presents a demonstration of another solution for enabling user realistic control of displacements in a VR system. Aiming to provide the user with tools that allow him to navigate through endless virtual environments without feeling motion sickness. Observing the world with our focus on travelling mechanisms, we could identify situations where information captured from visual and vestibular...
Recovering the legibility features is key to reverse engineering as the legible software systems can ease developer's code navigation and comprehension. Landmarks are important legibility features that developers use as reference points. In this paper, we leverage visual clustering to explore how landmarks can be identified via static dependencies. Besides organizing software entities with coherent...
Smart parking solutions for big cities are critically important for reducing traffic congestion and vehicle energy consumption in big cities. Visual-based detection methods have been proposed since their maintenance costs are typically lower. However, visual based detection methods in existing systems are not robust due to varying light intensities, occlusions, and their deployment costs can still...
We consider UAV IoT aerial sensing that delivers multiple VR/AR immersive communication sessions to remote users. The UAV swarm is spatially distributed over a wide area of interest, and each UAV captures a viewpoint of the scene below it. The remote users are interested in visual immersive navigation of specific subareas/scenes of interest, reconstructed on their respective VR/AR devices from the...
Visual attention is the cognitive process that allows humans to parse a large amount of sensory data by selecting relevant information and filtering out irrelevant stimuli. This papers develops a computational approach for visual attention in robots. We consider a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor....
Two less addressed issues of deep reinforcement learning are (1) lack of generalization capability to new goals, and (2) data inefficiency, i.e., the model requires several (and often costly) episodes of trial and error to converge, which makes it impractical to be applied to real-world scenarios. In this paper, we address these two issues and apply our model to target-driven visual navigation. To...
Until the recent updates to JavaScript specifications, adding syntactical support for class and namespace declaration, developers used custom solutions to emulate modulardecomposition (e.g., classes and namespaces) and other object-oriented constructs, such as interfaces, and inheritance relationships. However, the lack of standards for severalyears led to a large variation and diversity of custom...
Planetary rovers face mobility hazards associated with various classes of terrains they traverse: sand, bedrock, and rock-strewn terrain. This work develops visual classifiers for these 3 terrain types for single monochrome navigation images from the NASA Mars Exploration Rover missions. The classifiers are based primarily on visual texture, captured in histograms of edges filter responses at various...
A variety of end-user devices involving keypoint-based mapping systems are about to hit the market e.g. as part of smartphones, cars, robotic platforms, or virtual and augmented reality applications. Thus, the generated map data requires automated evaluation procedures that do not require experienced personnel or ground truth knowledge of the underlying environment. A particularly important question...
When full automation of mobile robots is not possible or desirable, teleoperation constitutes an alternative. The human operator can be supported with direction cues to facilitate localization or navigation. These cues are presented typically in the auditory, haptic and/or visual modality. An experiment was conducted to evaluate systematically and empirically the (uni-modal and multi-modal) effects...
Flying insects are capable of a wide-range of flight and cognitive behaviors which are not currently understood. The replication of these capabilities is of interest to miniaturized robotics, because they share similar size, weight, and energy constraints. Currently, embodiment of insect behavior is primarily done on ground robots which utilize simplistic sensors and have different constraints to...
We introduce the concept of “spatio-data coordination” (SD coordination) which defines the mapping of user actions in physical space into the space of data in a visualisation. SD coordination is intended to lower the user's cognitive load when exploring complex multi-dimensional data such as biomedical data, multiple data attributes vs time in a space-time-cube visualisation, or three-dimensional...
UAV is widely used in military and civil fields, and autonomous landing navigation technology is the key technology of UAV. Traditional navigation technology such as GPS and INS can't meet the navigation requirements of the landing stage due to the influence of precision and disturbance. Visual navigation has the advantages of strong anti-interference ability, high precision, low cost and low power...
The massive online open course (MOOC) revolution offers opportunities for learning analytics regarding the diversity in learning activities of MOOCs. In MOOCs, video lectures represent the principal learning resource, and learners spend most of their time engaged in self-paced, independent learning. Therefore, MOOCs present an innovative form of video-based learning. How to improve this learning environment...
One of the fundamental functionalities for autonomous navigation of Unmanned Aerial Vehicles (UAVs) is the hovering capability. State-of-the-art techniques for implementing hovering on standard-size UAVs process camera stream to determine position and orientation (visual odometry). Similar techniques are considered unaffordable in the context of nano-scale UAVs (i.e. few centimeters of diameter),...
Great progress has been made in computer vision-based localization systems. However, some systems tend to work well only in certain visually feature-rich environments. It is often the case that feature-based matching techniques can have a hard time dealing with scenes with only a few features or a large number of repetitive features. In these situations, computer vision-based localization may fail...
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