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Detecting targets in an image is a fundamental task in computer vision and robotic system. When only a trained detector (binary classifier) is at hand, the target detection problem becomes localizing the correct windows containing targets in the image and can be considered as a sampling problem. Exhaustive sliding window method is a common approach, but it is usually computationally expensive especially...
This study proposes the development of a simple remote-controlled daily assistive robot to assist physically challenged individuals. Specifically, we present a method for target object selection using a single click on a graphical user interface. Using this information, the robot can automatically estimate the unknown target object region to plan to grasp and fetch the object. The challenging task...
This paper presents a recognition of images objects that are out of touch by capturing the texture of objects that existed in everyday life which sub-divided according to the different parts of the human hand palm. They are divided into sections based on the physiology of the human hand by dividing the exposure of 15, 20 and 26 proportions and then analyzed. This work is the basis design of human-like...
Branches recognition of apple harvesting robot were studied to provide rich environment information for robot's harvesting obstacle avoidance. Firstly, the leaves and other background in the apple image were removed based on R-G color difference. Secondly, image segmentation was conducted using K-Means clustering based on “a” color feature in the Lab color space. Then the noise removal and image perfection...
The identification problem of artificial or natural objects in underwater images is considered in this paper. Any object (including a previously received image) with unequivocally determined contours can be used as a pattern. Recognition of the required object is made by an exhaustive search of key points or small pieces of borders with a subsequent increase of accumulator cells. Processing of real...
In this paper an adaptive algorithm to detect arena of a soccer robot, and the position, role and orientation of robots are proposed. Adaptive edge detection using Otsu's method is used in arena detection and adaptive color segmentation using Histogram is utilized in robot detection. The proposed method is shown to be able to detect arena and robots in dynamic environment. The experiment results show...
Mobility impairment is one of the biggest challenges faced by elderly people in today's society. The inability to move about freely poses severe restrictions on their independence and general quality of life. This work is dedicated to developing intelligent robotic platforms that assist users to move without requiring a human attendant. This work was done in the context of an EU project involved in...
Object recognition via shape matching has been a fundamental topic in robot vision. More and more technologies are widely used in the field of robot and automation in recent years. The shape contour contains meaningful information for object characterization, therefore, an effective representation of shape contour is important for the capability of a shape matching method. In this work, we propose...
Current technologies and methods for cutting pieces of a raw material, have a big limitation, and without despising its efficacy and precision, its scope and area of work limit the materials that are possible to manufacture in only process stage; This is a task of an area of research how to solve this disadvantage without losing the efficiency of the past technologies.
Autonomous robots that are intended to work in disaster scenarios like collapsed or contaminated buildings need to be able to efficiently identify action possibilities in unknown environments. This includes the detection of environmental elements that allow interaction, such as doors or debris, as well as the utilization of fixed environmental structures for stable whole-body loco-manipulation. Affordances...
We introduce a novel active stereo vison-based object tracking system for a humanoid robot. The system tracks a moving object that is dynamically changing its appearance and scale. The system features an in-built learning process that simultaneously learns short term models for the object and potential distractors. These models evolve over time, rectifying the inaccuracies of the tracking in a cluttered...
Remote-control technology is required in an unmanned vehicle such that it can replace humans for executing tasks in various extreme environments. In particular, a remote scene must be reconstructed using 3D meshes for enabling a user to remotely control an unmanned vehicle easily and intuitively. To this end, a large amount of multiple sensor data would be processed using various algorithms in real...
Computer vision systems are one of the most widely used techniques in Automation and have been extensively used for industry automation. Industrial automation deals mainly with the automation of production, quality control and materials management processes. One trend is the increasing use of Machine vision to offer automatic inspection and robot guidance functions, while the other is a continued...
The method of fuzzy color recognition and segmentation of vision scene of robot based on the combination of fuzzy color quantization and edge extraction of HSV (hue saturation value) color space was proposed in the article. In the method the color would be quickly recognized fuzzily as less than ten natural standard colors according to human visual perception and the recognized image will be edge...
The detection of obstacles is a fundamental issue in autonomous navigation, as it is the main key for collision prevention. This paper presents a method for the segmentation of general obstacles by stereo vision with no need of dense disparity maps or assumptions about the scenario. A sparse set of points is selected according to a local spatial condition and then clustered in function of its neighborhood,...
Rotary-wing unmanned aerial vehicles (UAV) are being widely used in different applications due to its several features, such as mobility, lightweight, embedded processing and capability of flying in different height levels. Among the possible applications they are used in surveillance tasks, agriculture environments monitoring, power lines inspections and diseases detection in crops. The images captured...
This paper presents a method to track in real-time a 3D textureless object which undergoes large deformations such as elastic ones, and rigid motions, using the point cloud data provided by an RGB-D sensor. This solution is expected to be useful for enhanced manipulation of humanoid robotic systems. Our framework relies on a prior visual segmentation of the object in the image. The segmented point...
In this paper, we propose a novel approach to generate a temporal consistent semantic map for 3D indoor scenes. In contrast to previous techniques which generate the semantic map on the whole global scene immediately or smooth the semantic predictions by a graph model, we intend to discover temporal information over RGB-D images and leverage it to enforce the label consistency. Our method contains...
This paper deals with development of Robust Moving Object Detection method using Visible Spectrum and Thermal Imaging. If we fuse visible spectrum and Thermal imaging together, more information about the moving object can be obtained as both are inherently complementary to each other. The segmentation of moving objects in corresponding video frames involves ‘Background Subtraction’ method. Here each...
Automatic discovery of topical objects from a set of image collections provides more strong cognitive capability of robot to understand the unstructured environment. In this paper, we propose a novel framework based on dictionary learning for such a task. Different from existing work which utilizes multiple segmentations to coarsely obtain the object regions, we adopt the most recently developed objectness...
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