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Smart grids are developing from the increasing integration of intelligent systems and components into power supply systems. These various systems and components within smart grids have to be connected via information and communication technologies (ICT) to allow a smooth data exchange between systems. Therefore, systems' interfaces should be defined to manage systems and their components. Smart grids...
In this paper, we consider the two dimensional (2-D) predecessor-following control problem for a platoon of unicycle vehicles moving on a planar surface. More specifically, we design a decentralized kinematic control protocol, in the sense that each vehicle calculates its own control signal based solely on local information regarding its preceding vehicle, by its on-board camera, without incorporating...
Vessel maintenance entails periodic visual inspections of internal and external parts of the hull in order to detect the typical defective situations affecting metallic structures. Nowadays, robots are becoming more and more important regarding these inspection tasks, since they can collect the requested information and, thus, prevent humans from performing tedious, and even dangerous tasks because...
We present a behavioral approach for autonomous robotic exploration of marine habitat with collision avoidance given little or no prior information. In our previous work, a vision-based reactive navigation paradigm with a predefined forward direction allowed an underwater robot to avoid unexpected obstacles. In this work, we have now incorporated visual perceptive invariants to guide the navigation...
Seagoing vessels have to undergo regular visual inspections in order to detect the typical defective situations affecting metallic structures, such as cracks and corrosion. These inspections are currently performed by ship surveyors manually at a great cost. To make ship inspections safer and more cost-efficient, this paper presents a Micro-Aerial Vehicle (MAV) intended for visual inspection and based...
This paper proposes to use speech commands for controlling a Micro Air Vehicle (MAV). The control commands for MAV are generated and transmitted through the Ground Control Station (GCS). Setting of values using keyboard and mouse can become cumbersome at the MAV mission site and therefore, speech is an effective alternative. In This paper open source Mission Planner GCS is integrated with the speech...
This paper presents the two datasets (ARENA and P5) and the challenge that form a part of the PETS 2015 workshop. The datasets consist of scenarios recorded by using multiple visual and thermal sensors. The scenarios in ARENA dataset involve different staged activities around a parked vehicle in a parking lot in UK and those in P5 dataset involve different staged activities around the perimeter of...
With rapid advances in technology and connectivity, the capability to capture data from multiple sources has given rise to multiview learning wherein each object has multiple representations and a learned model, whether supervised or unsupervised, needs to integrate these different representations. Multiview learning has shown to yield better predictive and clustering models, it also is able to provide...
Among the human related factors, aggressive driving behavior is one of the major causes of traffic accidents [17]. On the other hand, detection and characterization of driver aggressiveness is a challenging task since there exist different psychological causes behind it. However, information about the driver behavior could be extracted from the data that is collected via different sensing devices...
This paper considers visual feature selection and its regression to estimate the position of a vehicle using an omnidirectional camera. The Gaussian process (GP)-based localization builds on a maximum likelihood estimation (MLE) with a GP regression from optimally selected visual features. In particular, the collection of selected features over a surveillance region is modeled by a multivariate GP...
In the paper, comparative studies of three projection systems was carried out, i.e., With a cylindrical screen, with rear projection on foil placed on car windows -- "on screen", and with a collimation system. The purpose of the study was to assess the performance characteristics of visualization systems and the susceptibility of trainees to symptoms of simulator sickness. The results indicated...
In this paper, we proposes a visual-based vehicle classification system, in which it involves visual feature representation and classification step. In the feature representation step, we present a center enhanced spatial pyramid matching (CE-SPM) to extract the feature from images. In this work, we defined additional region in the center of each images to calculate the histograms of visual words...
This paper addresses the problem of absolute visual ego-localization of an autonomous vehicle equipped with a monocular camera that has to navigate in an urban environment. The proposed method is based on a combination of: 1) a Hidden Markov Model (HMM) exploiting the spatio-temporal coherency of acquired images and 2) learnt metrics dedicated to robust visual localization in complex scenes, such...
In this paper a hybrid visual servoing with a dynamic and hierarchical task-priority control framework is proposed for the control of an aerial vehicle endowed with a robot arm. The proposed task composition algorithm retains the main benefits of classical image-based and position-based control scheme, that can be suitably combined in a common hybridcontrol framework.Moreover, the under-actuation...
Rumble strips (RS) offer ideal conditions for multimodality research. Designed to reduce crashes and alert drowsy or inattentive drivers, their effectiveness in crash reduction is not questioned but little is known regarding how information from tactile vibrations and auditory rumbling is integrated during low-vision driving conditions. In this paper, we report descriptive data related to participants'...
This paper presents a visual Simultaneous Localization And Mapping (SLAM) method for temporary satellite dropout navigation for an unpowered fixed-wing aircraft. It is designed for flight altitudes beyond typical stereo ranges, but within the range of distance measurement sensors. The proposed visual SLAM method consists of a common localization step with monocular camera resectioning, and a mapping...
Navigation systems usually require visual or auditory attention. Providing the user with haptic cues could potentially decrease cognitive demand in navigation. This study is investigating the use of haptic eyeglasses in navigation. We conducted an experiment comparing directional haptic cues to visual cueing in a car navigation task. Participants (N=12) drove the Lane Change Test simulator with visual...
Virtual Reality in Exposure Therapy allows exposing patients to simulations of feared situations, even in cases where actual exposure is not possible or difficult. We have created a Web application that helps therapists performing this type of therapy when dealing with patients that suffer from anxiety of crossing road tunnels. The application contains a set of animations of virtual scenarios recreating...
Steering control for vehicle lane keeping has attracted wide attention from both automotive industries and vehicle control researchers. Commonly used linear control models cannot adequately represent the intermitted pulse-like qualities seen in real-world, naturalistic steering measurements. Therefore, an alternative ‘pulse control model’ (PCM) was recently proposed to take account of this property...
This paper presents a novel small unmanned aerial system which can operate independently and navigate using visual sensors. The basis of the system is a 600 gram quadrotor platform with sonar, inertial sensors and a camera. All processing is performed onboard the vehicle on a lightweight and powerful computer. Vehicle navigation is provided by a two part system. A Bierman Thornton extended Kalman...
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