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Anticipated growth of sub-sea technologies for security, infrastructure inspection, and exploration, motivates a deeper understanding of dynamics of underwater navigation in proximity to a submerged target surface. In this paper we discuss the phenomenon of a smooth, submersible micro robot with a single bottom jet that enables hovering and sliding over underwater surfaces. Such motion has applications...
This article describes an algorithm that provides visual odometry estimates from sequential pairs of RGBD images. The key contribution of this article on RGBD odometry is that it provides both an odometry estimate and a covariance for the odometry parameters in real-time via a representative covariance matrix. Accurate, real-time parameter covariance is essential to effectively fuse odometry measurements...
Autonomous underwater vehicles (AUVs) often perform high-resolution survey missions. Such missions are often planned on low resolution bathymetry maps using offline coverage planning methods, e.g., using a standard lawn-mower trajectory that is adapted to the coarse-resolution representation of the terrain. We present in this paper an approach to adapt the exploration online during the mission, namely...
Robust and accurate navigation of underwater vehicles is an essential cornerstone for mission success. Integrative techniques, e.g., using inertial navigation or Doppler velocity logs (DVL), can show significant drift. Even absolute input, such as GNSS input or magnetometers, can either be biased by surrounding structures or very noisy. For good navigation performance in critical maneuvers close to...
This paper presents NAMIDA, social interface consisting of three robots that help the driver to navigate by considering him as a bystander in a multi-party conversation between the agents. Through this model the cognitive workload of the driver can be reduced compared to the conventional one-to-one communication based approach that directly addresses the driver. We set up an experiment to compare...
Fatigue during long-time driving threatens the safety of drivers and transportation. In this paper, we provide an effective method based on multi-sensor signals collected from Kinect2.0 camera and PPG pulse sensor to build a driver fatigue detection system. Unlike most traditional works, we define the transitional process of fatigue and elaborate its effect on training classifiers. The simulation...
Recently, by development of information and communication technology, devices with communication functions have been equipped at vehicles and roads. A car navigation system, a Vehicle Information and Communication System (VICS), and an Electronic Toll Collection System (ETC) are one of the examples of these systems. By using these systems, it is possible to get route information of destination, decrease...
We present a novel schedule optimization framework to plan tasks for multiple unmanned surface vessels (USVs) and unmanned underwater vehicles (UUVs) performing a mine countermeasure (MCM) mission. The framework employs mixed-integer linear programming (MILP) to determine efficient schedules. In the framework, the USVs are capable of transporting the UUVs, processing contact information, and neutralizing...
Vehicle simulators are widely used to test the correctness of vehicle control algorithms. It is important to create a virtual road environment in a way that the vehicle algorithm can be tested under various circumstances that may happen in the real world. However, building such a road environment is typically time consuming and performed in a manual and ad-hoc fashion without having a good notion...
The car body structure and vision limitations of the rear view mirror may lead to inner wheel difference and blind spots, which results in traffic accidents. To solve this problem, many automakers develop the Around View Monitoring (AVM) actively. The AVM system provides the information around the car for drivers with videos. This paper is based on the 2D AMV and further develops the 3D AVM, which...
This paper presents a large-scale evaluation of a visual localisation method in a challenging city environment. Our system makes use of a map built by combining data from LIDAR and cameras mounted on a survey vehicle to build a dense appearance prior of the environment. We then localise by minimising the normalised information distance (NID) between a live camera image and an image generated from...
Vehicle ego-localization is a critical task not only for in-car navigation systems, but also for emerging intelligent and autonomous vehicle technologies. Visual localization methods that determine current location by performing image matching against a pre-constructed database have an accuracy limited by the spatial distance between database images. In this paper we propose a method that uses the...
Automation techniques have been applied in almost every field in past few years. Automated Guided Vehicle (AGV) are most often used in industries and inventories for object management. Obstacle avoidance being a necessary requirement for navigation in any vehicle, still faces many challenges in the field of automation due to uncertain nature of the surrounding environment. This paper presents the...
Traffic density estimation plays an integral role in intelligent transportation systems (ITS), using which provides important information for signal control and effective traffic management. In this paper, we present a new framework for traffic density estimation based on topic model, which is an unsupervised model. This framework uses a set of visual features without any need to individual vehicle...
There are millions of people over the world with some visual impairment or totally blind. Most of them face challenges every day, such as learning, walking and others. If they need to use the public transport, they depend on the good will of the people around them to help. In this paper, the author proposes a wireless interactive system composed by modules, which works with smartphone, embedded system...
In this work we present initial results of a system that combines wearable technology and monocular simultaneous localisation and mapping (SLAM) for remote controlling of a low-cost micro aerial vehicle (MAV) that flies beyond the visual line-of-sight. To this purpose, as a first step, we use a state-of-the-art visual SLAM system, called ORB-SLAM, to create a 3D map of the scene. The visual data feeding...
In the last couple of years a novel visual simultaneous localisation and mapping (SLAM) system, based on visual features, has emerged as one of the best, if not the best, systems for estimating the 6D camera pose whilst building a 3D map of the observed scene. This method is called ORB-SLAM and one of its key ideas is to use the same visual descriptor, a binary descriptor called ORB, for all the visual...
VANET Simulation schemes require a combination of mobility and wireless network simulation packages, coupled with custom scripts, visualization tools and various scenarios. The results of simulation studies need to be supported by special tools or scripts to analyze or visualize them easily. Some additional difficulties arise at sharing the results, visually comparing simulation runs across different...
This study investigates limitations of driver's compensation under visual field contraction. Two types are distinguished for the compensation: (A) reducing the vehicle speed, and (B) looking around frequently. An experiment using a driving simulator is conducted to evaluate to what extent accidents can be avoided by compensation. The participants are healthy drivers wearing eyeglasses that contract...
This paper deals with road plane detection by image analysis in the context of automatic driver assistance systems. In this context, free navigable space detection is a very important step for any navigation and obstacle detection system. We propose a low-level combination of two main visual processes: stereovision and motion. We define a common representation that allows simple projections of stereo...
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