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We present a head-mounted, stereo-vision based navigational assistance device for the visually impaired. The head-mounted design enables our subjects to stand and scan the scene for integrating wide-field information, compared to shoulder or waist-mounted designs in literature which require body rotations. In order to extract and maintain orientation information for creating a sense of egocentricity...
This paper proposes a real-time probabilistic solution to the problem of camera motion estimation in a video sequence. Instead of using explicit tracking of features, it only uses instantaneous image intensity variations without prior estimation of optical flow. We represent the camera motion as a probability density which is constructed from the individual motion densities, estimated from spatio-temporal...
This paper studies the problem of spatio-temporal matching between trajectories from two videos of the same scene. In real applications, trajectories are usually extracted independently in different videos. So possibly a lot of trajectories stay “alone” (have no corresponding trajectory in the other video). In this paper, we propose a novel matching algorithm which can not only find the existing correspondences...
This paper presents a new approach to the problem of camera localization with non-overlapping camera views, particularly relevant for video surveillance systems. We show how to recast localization as quasi-convex optimization under the L-Infinity norm. Thereby we add the problem of reconstructing camera centers and 3D points for non-overlapping cameras with known internal parameters and known rotations...
Heuristic searches such as A* search are highly popular means of finding least-cost plans due to their generality, strong theoretical guarantees on completeness and optimality and simplicity in the implementation. In planning for robotic manipulation however, these techniques are commonly thought of as impractical due to the high-dimensionality of the planning problem. In this paper, we present a...
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...
Recent research in orthopedic surgeries indicates that computer-assisted robotic systems have shown that robots can improve the precision and accuracy of the surgery which in turn leads to better long-term outcomes. An orthopedic robotic system called OrthoRoby and an intelligent control architecture that will be used in bone cutting operations are developed. A medical user interface (MUI) is developed...
The problem of place recognition appears in different mobile robot navigation problems including localization, SLAM, or change detection in dynamic environments. Whereas this problem has been studied intensively in the context of robot vision, relatively few approaches are available for three-dimensional range data. In this paper, we present a novel and robust method for place recognition based on...
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...
Physical constraints that underly the formation of periodic motions can be effectively used to accurately reconstruct the periodic motion from even single camera views. As shown in our earlier work, this reduces to a problem of geometric inference. In this paper, we focus on periodic motions exhibited by humans, which are generally not perfectly periodic, and explore the suitability of the reconstruction...
This live demonstration aims to show a real-time people tracking using an embedded smart stereo vision system (3DVS) consisting of two asynchronous (biologically-inspired) dynamic vision sensors and a processing unit (DSP) embedding a detection and tracking algorithm.
An analytical formula of the emittance of and space charge effects on a sharply curved emitter surface is given. The 3D formulation makes use of the Point Charge Model (PCM) of a unit cell emitter coupled with a trajectory analysis to follow electrons to an evaluation plane where emittance is determined. The single tip theory extended to an array predicts the emittance of a Field Emitter Array 0.2...
The computational capabilities needed for practical IOT/MBIOT design will be discussed. These were evaluated using a combination of analysis and test simulations employing static and fully electromagnetic codes. The presentation will focus on the most difficult aspect: simulation of beam formation in the cathode-grid region. It will be shown that electron transit delay in the cathode-grid gap causes...
This paper describes the simulation of an axi-symmetric 2-stage depressed collector including the effects of secondary electrons using a 2D FDM based code and compares its efficacy against experimental results and 3D simulation using CST Particle Studio. The paper also demonstrates the 3D simulation of a tilted electric field (TEF) collector using CST Studio for arresting the secondary electron back-migration.
This paper is about the automated discovery and mapping of surfaces using a stereo pair. We begin with the observation that for any workspace which is topologically connected (i.e. does not contain free flying islands) there exists a single surface that covers the entirety of the workspace. We call this surface the covering surface. We assume that while this surface is complex and self intersecting...
We address the problem of efficient processing of spatio-temporal range queries for moving objects whose whereabouts in time are not known exactly. The fundamental question tackled by such queries is, given a spatial region and a temporal interval, retrieve the objects that were inside the region during the given interval. As earlier works have demonstrated, when the location, time information is...
In this paper we present a variational probabilistic approach to the registration of brain white matter tractographies extracted from DT-MRI scans. Initially, the fibers are projected into a D-dimensional feature space based on the sequence of their spatial coordinates. The alignment of two fiber-sets is considered a probability density estimation problem, where one point-set represents Gaussian Mixture...
Handheld 2D ultrasound is very useful for intra-operative imaging, but requires some reconstruction effort in order to create 3D US volumes, unless one is using large and expensive 3D US probes. Unlike common probe tracking approaches involving either global or local tracking algorithms (suffering from jitter and complexity or from drift), we propose to use a combination of local sensors to reconstruct...
This paper describes directed laser tagging as an approach to define robot trajectories for low volume applications. The method employs a free-standing laser that is used to define a goal point, a 3D point on an object of interest. Biclops, a directed stereo vision system, uses triangulation to compute the coordinates of the 3D point. A trajectory is defined by collecting a sequence of quasi-static...
We introduce a new technique of haptic guidance, for navigation and control of applications in virtual environments. We haptically simulate the collisions of the pointer with the borders of a polyhedral menu, making it glide towards the items. We propose the preliminary results of an empirical evaluation of this technique.
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