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In this paper, we present a unified approach for Expectation Maximization (EM) based motion segmentation, estimation and analysis from dense point cloud data. When identifying an underlying motion, literature mainly focuses on three related topics: motion segmentation, estimation and analysis. These topics are, however, mostly considered separately while integrated approaches are rare. Our approach...
This paper addresses the problem of jointly planning both grasps and subsequent manipulative actions. Previously, these two problems have typically been studied in isolation, however joint reasoning is essential to enable robots to complete real manipulative tasks. In this paper, the two problems are addressed jointly and a solution that takes both into consideration is proposed. To do so, a manipulation...
Cone-beam computed tomography (CBCT) is known to provide high-quality three-dimensional (3D) images for accurate diagnosis of breast cancer compared to conventional two-dimensional (2D) mammography. Several CBCT techniques have been developed for breast imaging with different imaging setup and geometry configurations. In interventional procedures such as biopsy, it is likely that a 3D image with depth...
We report an automated method for teleoperation of unmanned ground vehicles in complicated environments using multi-channel LiDAR and a video camera. To improve accurate remote control and compensate signal transmission latency, a method for trajectory prediction based on dynamic model is proposed. Unlike earlier 2D trajectory prediction, our method utilizes LiDAR point data to generate 3D trajectory...
Recently, Simultaneous Localization And Mapping (SLAM) has been getting more and more popular on the applications of mobile robot and unmanned aerial vehicles. If combined with semi-dense mapping, monocular SLAM will have a good prospect for multi-applications such as visual navigation. In addition, robust tracking is a pivotal role in complex and volatile situation and also it determines the quality...
This paper proposed for comparison of two methods used to predict the trajectory of a moving object in 3D fields using Kalman Filter and Levenberg-Marquardt Least Squares. The Kalman Filter needs dynamic model of the object to predict trajectory, different from The Levenberg-Marquardt method requires previous movements of the object, and the system can determine the next move, to perform this experiment...
Route mining for busy waterways is a challenging task. Complicated shipping routes may be generated due to vessels of different types congesting in a narrow water way, frequently changing navigational direction and weaving through multiple crossing traffic. The traditional way using visual bearing and ship-stationed techniques may mitigate hazards of ship collision but lack macroscopic information...
In this paper, we address a problem of precise online localization of a hexapod walking robot operating in rough terrains. We consider an existing Simultaneous Localization and Mapping approach with a low cost structured light (RGB-D) sensor. We propose to combine this sensor and localization method with the developed adaptive motion gait that allows the robot to crawl various types of terrain, such...
Depth image based human action recognition has attracted many attentions due to the popularity of the depth sensors. However, accurate recognition still remains a challenge because of various object appearances, poses and video sequences. In this paper, a novel skeleton joints descriptor based on 3D Moving Trend and Geometry (3DMTG) property is proposed for human action recognition. Specifically,...
This paper proposes a motion planning method for an autonomous vehicle in an urban environment. The proposed method generates trajectories using the closed-loop forward simulation (CLFS), which can consider various properties of an autonomous vehicle. The safeties of the generated trajectories are evaluated using an occupancy grid map. Using the proposed method, smooth and safe trajectories can be...
Flyer is a means utilized popularly and effectively in recording landscape from above, collecting data of environment and weather, contributing to field works, especially conveying samples and medications from or to patients living in areas isolated by flood. It is necessary to track flyer's locations and characteristics for its activities. Visualization-based system for tracking flyer enables user...
This paper describes the design and development of a cognitive module for 3D robotic welding using TIG or laser technology. This area is constantly evolving with the needs to solve complex problems of welding automatization and robotization, and also thanks to the continuous advances in measurement technology and robotics. Besides the use of welding robots for serial production with dedicated tightly...
The new steerable 3D multi-beam echo sounder system SEAPIX offers different operational modes to acquire supplementary information during the acquisition process. In this paper, we focused on 2 modes: the classical MBES mode and the longitudinal mode. The consistency of the data acquired from these two modes was verified through the evaluation of statistical features (mean, standard deviation, Kullback-Leibler...
This paper presents an application of the active disturbance rejection control approach for humanoid robot stable walking, which is a control strategy based on the extended state observer and cascade integrator canonical form features from modern control theory to deal with disturbances, nonlinearities and unmodeled dynamics. The proposed controller is based on the 3D linear inverted pendulum walking...
This paper explores the use of an entropy-based technique for point cloud reconstruction with the goal of calibrating a lidar to a sensor capable of providing egomotion information. We extend recent work in this area to the problem of recovering the Sim(3) transformation between a 2D lidar and a rigidly attached monocular camera, where the scale of the camera trajectory is not known a priori. We demonstrate...
Cave Automatic Virtual Environment (CAVE) provides an immersive virtual environment for 3D city planning. However, the user in the cave has to wear wearable markers for the interaction with the 3D models. To develop a natural interaction, depth camera like Kinect has to be considered. In this paper, we propose a new skeleton joint representation called Bag of Angles (BoA) for human gesture recognition...
In this paper we propose to improve the localization and the 3D mapping provided by an RGBD SLAM algorithm, using a prior knowledge of the 3D model of the environment. The proposed solution relies on an feature-based RGBD SLAM algorithm to localize the camera and update the 3D map of the scene. To improve the accuracy and the robustness of the localization, we propose to combine in a local bundle...
Segmentation of moving objects in a scene is difficult for non-stationary cameras, and especially challenging in the presence of fast and unstable egomotion, e.g., as encountered with car-mounted cameras or wearable devices. Based on an analysis of motion vanishing points of the scene and estimated depth, a geometric model that relates extracted 2D motion to a 3D motion field relative to the camera...
We propose a passive forgery detection technique for locating spliced regions in motion blurred images of 3D scenes. We consider general camera motion in hand-held cameras and utilize discrepancies in local motion blur patterns as a cue for splicing detection. We first devise an automatic and computationally efficient scheme to estimate the camera motion using only the blur kernels from authentic...
Curvature and torsion of discrete curves are important quantities in numerous applications in 3D image processing. Classical algorithms based on high order derivatives lead to high errors when computing torsion of 3D curves with discrete data of low resolution. To face this challenge we present a discrete parameter free approach to calculate the torsion values without fitting continuous curves on...
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