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Our work builds upon Visual Teach & Repeat 2 (VT&R2): a vision-in-the-loop autonomous navigation system that enables the rapid construction of route networks, safely built through operator-controlled driving. Added routes can be followed autonomously using visual localization. To enable long-term operation that is robust to appearance change, its Multi-Experience Localization (MEL) leverages...
Context-aware segmentation of laparoscopic and robot assisted surgical video has been shown to improve performance and perioperative workflow efficiency, and can be used for education and time-critical consultation. Modern pressures on productivity preclude manual video analysis, and hospital policies and legacy infrastructure are often prohibitive of recording and storing large amounts of data. In...
In this work, a clustering approach to obtain compact topological models of an environment is developed and evaluated. The usefulness of these models is tested by studying their utility to solve the robot localization problem subsequently. Omnidirectional visual information and global appearance descriptors are used both to create and compress the models and to estimate the position of the robot....
We consider the problem of computing shortest paths in a dense motion-planning roadmap G. We assume that n, the number of vertices of G, is very large. Thus, using any path-planning algorithm that directly searches G, running in O(VlogV + E) ≈ O(n2) time, becomes unacceptably expensive. We are therefore interested in anytime search to obtain successively shorter feasible paths and converge to the...
We present an illumination-robust visual localization algorithm for Astrobee, a free-flying robot designed to autonomously navigate on the International Space Station (ISS). Astrobee localizes with a monocular camera and a pre-built sparse map composed of natural visual features. Astrobee must perform tasks not only during the day, but also at night when the ISS lights are dimmed. However, the localization...
Recognition of human manipulation actions together with the analysis and execution by a robot is an important issue. Also, perception of spatial relationships between objects is central to understanding the meaning of manipulation actions. Here we would like to merge these two notions and analyze manipulation actions using symbolic spatial relations between objects in the scene. Specifically, we define...
Laughter detection is an essential aspect towards effective human-computer interaction. This work primarily addresses the problem of laughter detection in a real-time environment. We utilize annotated audio and visual data collected from a Kinect sensor to identify discriminative features for audio and video, separately. We show how the features can be used with classifiers such as support vector...
Robotic development suffers from a long cognitive distance between the code and the resulting behavior. This is due to the several steps necessary to build robotic behaviors: writing the code, compiling it, deploying it and finally testing it on the robot. All this slows down development and can make experimentation prohibitively expensive. In contrast, Live Programming tightens the feedback loop,...
Human-robot teams can incorporate advanced technology such as distributed mobile sensor networks, integrated communications, visualization technology, and other means to acquire and assess information. These factors can greatly affect mission effectiveness, safety, and survivability, by providing critical information and suggesting courses of action. However, information overload can result. Tactical...
As IoT/robotics research and applications expand explosively into many domains in computing, information, and control systems, schools and universities must prepare students to understand and be able to program IoT devices and robots. However, programming IoT and physical devices is hard and depends on good understanding of hardware and low-level programming. Workflow and visual programming environments...
The Internet of things (IoT) has become a general trend in the electronic world. In this IoT era, various types of sensors gathering data are placed everywhere, and visual data is one of the most valuable information. While extracting important features from visual images, complex vision algorithms are often processed by high speed computing units like CPU or GPU. However, most IoT devices are mobile,...
Detection and tracking of moving objects in video is emerging in computer vision and robotics. Classification of objects in addition to the detection and tracking can lead to better understanding of the scene and helps in taking certain decisions in various applications. Classifying the objects based on the features like color, shape, size, speed, direction of objects in motion has numerous applications...
We propose a method for navigation of autonomous underwater vehicle based on visual odometry with regard to the conditions of the local maneuvers. The method is based on the SLAM-algorithm for stereo images and recognition algorithm for re-visited places. The operation of the algorithm for places recognition is based on using of virtual network for coordinate binding, which is constructed at the time...
In this paper is presented the integration of diverse modules for people fallen detection by a mobile service robot. This integration has been achieved in the middleware ROS (Robotics Operation System). The proposed implementation are arranged over an modular architecture of three layers: Hardware, Processing and Decision. The modules implemented are on the processing layer. The first module uses...
Underwater harbor structures should be inspected regularly for safety problem. Conventional inspection methods which are performed by divers have several limitations including safety and health problem of divers. This paper presents development of a ROV and experimental results for visual inspection of harbor structures. The ROV is equipped with visual systems for inspection tasks, navigation system...
According to the real condition of the substation inspection robot provided a vision-based navigation control method for substation inspection robot can be run in the complex road environment, with strong anti-interference, implementation of simple, good stability and high precision in this paper. Reasonably plan the inspection paths, enabling robot to full check each device in substation. Robots...
In this paper, we design a human computer interaction (HCI) system for the locked-in syndrome (LIS) patients which combines the eye movement signals and Electroencephalogram (EEG) signals. The LIS describes patients who are faced with the quadriplegia, aphonia and facial paralysis problems. However, they are still conscious, have the ability to hear and give a hint with the blink or eye movements...
X-ray angiography is a common method for image-guided navigation comprising surgical devices and vessel contours detection which can offer visual feedback to physicians. However, for the sake of both physicians' and patients' health, the contrast agent is injected intermittently and in a low dosage, so the X-ray images are not always of adequate quality for visual examination. So the navigation, which...
Based on the research of visual servo, this paper designs a set of high-speed dynamic target acquisition and processing visual system and also applies it to a servo robotic product. The experiment proves that this system had high robustness and instantaneity, which can detect and locate high-speed movement target and obtain its dynamic information, then sends data to the servo control system of the...
Despite rapid growth and the promise of a lucrative degree, the attrition rate for students studying Computer Science is high. Computer Science learning is a difficult, tedious process with a heavy workload which demands a lot from those studying it. A student who loses motivation or interest in the field is more likely to find a new area of study. In order to keep students interested and motivated,...
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