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This work describes an optical measuring device that comprises multiple laser mouse sensors to estimate 3-DOF planar motion. The linear least squares (LLS) method and nonlinear least squares (NLS) method are adopted to estimate the positions in this over-determined system. Two circular trajectories - non-orientated and self-orientated - are employed to evaluate the feasibility of the proposed device...
The paper deals with the issue of action recognition as an application of the new 3D time-of-flight (ToF) camera, exploiting the special ability of the device to measure distances. Segmentation of moving people is straightforward from the distance information and subsequent steps of the processing chain follow in a classical way. We describe the first results on action recognition using ToF camera...
In recent years multiple simultaneous localization and mapping (SLAM) algorithms have been proposed, which address the challenges of 3D environments in combination with six degress of freedom in the robot position. Commonly, solutions based on scan-matching algorithms are applied. In contrast to these approaches, we propose to use a particle filter transferring the concept of the 2D Rao-Blackwellized...
Sequential monocular SLAM systems perform drift free tracking of the pose of a camera relative to a jointly estimated map of landmarks. To allow real-time operation in moderately sized environments, the map is kept quite spare with usually only tens of landmarks visible in each frame. In contrast, visual odometry techniques track hundreds of visual features per frame. This leads to a very accurate...
This paper describes a new visual odometry system using omnidirectional images for application to mobile robots under an urban environment. Both velocity and direction of movement can be estimated from a sequence of omnidirectional images. A unique Hough transform based algorithm enables real-time estimation of the speed of a moving robot. The validity of the proposed method is examined using a wheelchair-type...
In this paper we introduce a framework for self-mobile localization of a group of mobile agents via a novel formation coordination. The key idea of formation coordination is to make an agent move while fixing other agents as reference nodes. Since the mobile agent is connected to the fixed agents, it is localized during the movement. After the movement, the mobile agent is then fixed, and it is used...
GPS sensors are a promising technique for verifying taximeters, because they do not require dedicated facilities and are compatible with a wide range of vehicles. The main drawback of this technology is based on legal issues: neither the absolute error of a GPS-based measurement nor the tolerance of the sensor can be known in advance, because they depend on environmental factors. In this paper we...
Vision systems are nowadays very promising for many on-board vehicles perception functionalities, like obstacles detection/recognition and ego-localization. In this paper, we present a 3D visual odometric method that uses a stereo-vision system to estimate the 3D ego-motion of a vehicle in outdoor road conditions. In order to run in real-time, the studied technique is sparse meaning that it makes...
This paper treats a trajectory tracking control of a mobile robot by a single CCD camera and range sensors. First, the mobile robot detects the obstacle based on information of both the image and the distance. And then, from the obstacle information, the mobile robot generates a trajectory to avoid the obstacle. Finally, the usefulness of our proposed methods is demonstrated through experiment.
This paper presents an implementation and comparison between odometry and probabilistic algorithms for the mobile robot localization problem in indoor environments.The hardware and software tools used for the experiments are briefly described. Also, a software architecture is proposed to make easier the development of computer applications including the tested algorithms which are used to get the...
In this paper we investigate the possible benefits and drawbacks of using a previously proposed ldquosoftrdquo ranging algorithm for tracking moving objects in indoor scenarios. The objects considered in this work could be either passive point scatterers or active relays. A number of ultra-wide band transceivers are deployed throughout the environment, and they are used to estimate multi-path propagation...
This paper presents a lookahead strategy for a movement-based location update procedure that reduces the signaling traffic of the classical movement-based scheme. Our proposal is based on the observation that many trips of the mobile users are daily trajectories according to certain routines, for instance from home to the working place and vice-versa. Also we assume that the network can predict the...
In this paper a nonlinear control has been designed using the dynamic inversion approach for automatic landing of unmanned aerial vehicles (UAVs), along with associated path planning. This is a difficult problem because of light weight of UAVs and strong coupling between longitudinal and lateral modes. The landing maneuver of the UAV is divided into approach, glideslope and flare. In the approach...
We present a formal protocol for communication based on modulating the relative motion between mobile agents. This type of communication is typically dependent on context in that a particular motion or gesture will indicate something related to the current activity. The focus of this article is on enabling such motion-based signaling between non-holonomic mobile agents moving in Ropf2. A Control law...
This paper studies bifurcations and multiple solutions of the optimal control problem for mobile robotic systems. While the existence of multiple local solutions to an optimization problem is not unexpected, the nature of the solutions are such that a relatively rich and interesting structure is present, which potentially could be exploited for controls purposes. In particular, this paper studies...
We report experimental study on the evolution of the emission mechanism by using a phase-space imaging technique based on the local angular momentum conservation in emission process in a chaotic optical microcavity as the cavity deformation corresponding to nonintegrability increases. In the regime of weak deformation, we could image the output beam being emitted tangentially from a location at a...
The purpose of this poster is to present the performance profile of healthy people in the Virtual Action Planning-Supermarket (VAP-S) as well as the differences in performance between the healthy controls and three clinical populations: stroke survivors, people with mild cognitive impairment (MCI) and people with Schizophrenia. The findings showed an aging effect as well as an effect of diagnosis...
In order to increase the acceptance of vehicles that drive (partly) autonomously, it seems advantageous that the driving style of autonomous cars is human-like. Furthermore, the acceptance of autonomous cars is believed to be increased when their actions and current state becomes more transparent to the passengers. These aspects can be tackled by implementing emotions to an autonomous car which allows...
In the context of driving assistance, detection of moving targets is challenging when the automobile is witnessing very complex environment. The main challenges come from difficulties to tell foreground from moving background due to camera motion. We present an efficient method for target detection by hierarchically distinguishing the motion of targets from that of the background and using color information...
This paper addresses real-time automatic visual tracking and classification of a variable number of vehicles in traffic. This off-board surveillance device may cooperate with on-board advanced driver assistance systems (ADAS), extending its measurement range to the areas of the road that are not in the car sensors field-of-view (in a curve or an intersection). Tracking results also are useful for...
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