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Our laboratory previously conducted feasibility studies of autonomous robotic breast biopsy guided by 4D ultrasound. Using a complete 3D image volume, processed by elementary thresholding algorithms with no human intervention, the robot was able to successfully target bright voxels representing micro-calcifications and dark regions representing cysts in turkey breast tissue. We now describe a clinical...
Detection and removal of intra-femoral bone-cement in the context of revision total hip replacement (RTHR) can be a time-consuming and risky intervention. Within the framework of computer and robot assisted surgery a system for integrated intraluminal ultrasound based cement detection using a modular mini-robot is being developed. One challenge of an ultrasound based approach is that refraction and...
There are few simulators to test and validate the controlling strategies for a robot soccer team belonging to Very Small Size Category. In this paper, it is proposed an open source simulator for this category, named by USPDroidsSS, which provides a simulation environment for robot soccer that enable the development of robotic control systems to be changed from the real system with the minimal of modifications...
This paper describes a novel method to match objects in cluttered scenes. This method makes use of Hilbert scanning of feature points in Hough space. We use a 3D Hough transform to obtain a spectrum on which 3D features are concentrated on the sphere. Then, based on the obtained Hough Spectrum, we apply Hilbert scanning on the sphere to match the objects. Using this approach, we can match the object...
In this work we propose a tool for path generation of animated beings (devices as robots, and humans) in a virtual environment. The focus of this application is the creation and edition of this path for guided tour in virtual museum. To validate this approach we present a virtual exhibition were a virtual guide following the generated path and conduces the virtual visitors in the museum.
We present an approach for visuo-haptic augmented reality, which is focused on object manipulation tasks. The interactive environment combines three-DOF haptic rendering and physics-based animation. A desktop haptic device with force feedback is driven by the user to interact with movable virtual objects that are superimposed upon a visual representation of the real workspace. Virtual objects coexist...
In this paper, a virtual reality-based construction tele-robot control system is investigated. The system consists of a servo-controlled construction tele-robot, two joysticks for controlling the construction tele-robot, and virtual environment imaging system. The operator performs the teleoperation of the construction tele-robot by manipulating the graphic robot directly in virtual environment using...
This paper presents a novel algorithm to cluster planar points and extract polygons from 3D range images acquired in an indoor environment. The algorithm replaces large number of data points in the range image with polygons that fits the planar regions of the indoor environment resulting in high data compression. The 3D range image is acquired by panning a laser scanner and the data is stored in a...
Motion recognition via trajectory is important in motion analysis for many robotic tasks. A descriptor for motion trajectories plays an important role in the recognition algorithm. Existing invariant descriptors and discrete matching algorithms are not flexible enough under certain circumstances for recognition. In this paper we propose a new descriptor to solve this problem, with a modified data...
This paper describes an approach for mobile robot localization using a visual word based place recognition approach. In our approach we exploit the benefits of a stereo camera system for place recognition. Visual words computed from SIFT features are combined with VIP (viewpoint invariant patches) features that use depth information from the stereo setup. The approach was evaluated under the ImageCLEF@ICPR...
The triangulation method is the basic method for robots to exactly locate points in unknown environments. But the traditional triangulation method has the drawback that its solution is locally optimal. This paper devise a novel solution to triangulation in omnidirectional vision under the L∞-norm, which provides a theoretical guarantee of global optimality and a wide field of view. We give three different...
This paper proposes a set of techniques for predictive collision avoidance, which ensure robust operation of robot applications. Implementation issues for applying the techniques to state-of-art robots are presented, including integration with manual and automatic operation modes.
The main challenge for occlusion problem is that features from different objects tend to interact and cause recognition failures for traditional object recognition algorithms where even matched feature points do not necessarily lead to successful recognitions. Feature interactions may be the key to recognize occluded objects. In this paper, we propose a framework to integrate local feature interactions...
Objects grasping and manipulation is a major task for housold and industrial robots. Sensing the objects with 3D laser scanners generating point clouds is a common approach for gathering object information. The abstraction from the raw pointclouds to high level representations is a necessity in the real world domain. This paper describes a method for the approximation of objects from scenes and an...
Multi-view plus depth (MVD) video is getting more popular as a new video format for 3DTV and Free viewpoint TV. By using multi-view and depth video, it is possible to efficiently render virtual views in decoder site. In this paper, we propose a motion information sharing mode for efficient depth video coding. Because the depth video is correlated with the color video especially in object boundary...
Matching image features between an image and a map of landmarks is usually a time consuming process in mobile robot localization or Simultaneous Localisation And Mapping algorithms. The main problem is being able to match features in spite of viewpoint changes. Methods based on interest point descriptors such as SIFT have been implemented on GPUs to reach real time performance. In this paper, we present...
This paper describes a fast method for segmentation of large-size long-range 3D point clouds that especially lends itself for later classification of objects. Our approach is targeted at high-speed autonomous ground robot mobility, so real-time performance of the segmentation method plays a critical role. This is especially true as segmentation is considered only a necessary preliminary for the more...
Reliable perception of terrain slope and terrain traversability is a key-feature for any off-road unmanned ground vehicle, as well as for any Driver Assistance Systems designed to work in extreme environments, like mining. In this paper we want to present an innovative technique to build a 3D elevation map of the traversable terrain from a world's 3D dense data set, in real time. The 3D points are...
This paper presents the prototype of a realistic 3D simulation in order to study robotic fish's behaviors and its interactions with a physic-based underwater environment. Mainly, we focus the attention on the production of vortices and sudden generation of thrust forces produced by the fish. The robotic fish (based on the shape of a trout) is developed as a result of a project of the Telerobotics...
Local image features are used for a wide range of applications in computer vision and range imaging. While there is a great variety of detector-descriptor combinations for image data and 3D point clouds, there is no general method readily available for 2D range data. For this reason, the paper first proposes a set of benchmark experiments on detector repeatability and descriptor matching performance...
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