The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This work presents scenario oriented Color-Depth integration framework for the purpose of robust object segmentation in a real workplace scenario. The workplace is the Library of Bremen University and the objects to be grasped are books located on a shelf. The proposed framework is responsible for segmenting the book to be grasped and extract the features needed for a successful grasping operation...
When a robot is deployed it needs to understand the nature of its surroundings. In this paper, we address the problem of semantic labeling 3D point clouds by object affordance (e.g., ‘pushable’, ‘liftable’). We propose a technique to extract geometric features from point cloud segments and build a classifier to predict associated object affordances. With the classifier, we have developed an algorithm...
The task of searching and grasping objects in cluttered scenes, typical of robotic applications in domestic environments requires fast object detection and segmentation. Attentional mechanisms provide a means to detect and prioritize processing of objects of interest. In this work, we combine a saliency operator based on symmetry with a segmentation method based on clustering locally planar surface...
Real-time plane extraction in 3D point clouds is crucial to many robotics applications. We present a novel algorithm for reliably detecting multiple planes in real time in organized point clouds obtained from devices such as Kinect sensors. By uniformly dividing such a point cloud into non-overlapping groups of points in the image space, we first construct a graph whose node and edge represent a group...
Small obstacles of the order of 0.5–3cms and homogeneous scenes often pose a problem for indoor mobile robots. These obstacles cannot be clearly distinguished even with the state of the art depth sensors or laser range finders using existing vision based algorithms. With the advent of sophisticated image processing algorithms like SLIC [1] and LSD [9], it is possible to extract rich information from...
Segmentation of a scene to the part made is a challenging work. In this paper a graphical model is used for this task. The methods based on geometrical derivatives such as curvature and normal often haven't good result in segmentation of geometrically-complex architecture and lead to over-segmentation and even failure. Proposed method for segmentation contains two steps. At first region growing based...
To understand scenes and help autonomous robots and cars, researchers' attention is directed through the problem of classifying 3D point cloud. In this paper, we present a novel approach to semantically segment 3D point cloud of residential scenes captured by a lidar sensor. Our approach is based on a dual-scale analysis: a small-scale clustering and a large-scale grouping. Features used to train...
Road surface inspection in cities is for the most part, a task performed manually. Being a subjective and labor intensive process, it is an ideal candidate for automation. We propose a solution based on computer vision and data-driven methods to detect distress on the road surface. Our method works on images collected from a camera mounted on the windshield of a vehicle. We use an automatic procedure...
This paper proposes to monitor and control the coal combustion of thermal power plant boiler. The monitoring process for the combustion was determined using flame characteristics. Image processing techniques was used to analyze flame characteristics. Median filter reduces the noise in the flame image. Using obtained image, the ratio of air is varied using model predictive control and robotic arm can...
Kinect camera is a new developed cheap senor, which captures color images along with per-pixel depth information. In this paper, a new object localization method, based on RGB-D image, is presented. On the basis of traditional image segmentation, the system determines the motion tracing object according to current environment. Then by using Back projection algorithm, the system implements the object...
Agricultural sector is desperately in need of engineering outcomes such as Automation, Information Technology and more recently Robotic Technology. Cotton Cultivation in India occupying a big share in commercial crops is facing a major problem of picking the cotton from the plants by the labor as the labor costs are increasing these days. This paper aims at achieving a prominent solution with the...
3D point cloud segmentation is the process of classifying point clouds into multiple homogeneous regions, the points in the same region will have the same properties. The segmentation is challenging because of high redundancy, uneven sampling density, and lack explicit structure of point cloud data. This problem has many applications in robotics such as intelligent vehicles, autonomous mapping and...
A vine pruning robot uses stereo cameras to build a 3D model of vines. The robot's 3D reconstruction scheme requires the 2D structure of the vine to be extracted from each image. This paper describes how the 2D structure is extracted. We propose an image grammar-based model for how a vine generates an image. We extract cane edges from each image, then apply a bottom-up parse of the cane edges to find...
There are many scenarios in which user interaction is essential for effective image segmentation. In this paper, we present a new interactive segmentation method based on the Image Foresting Transform (IFT). The method over segments the input image, creates a graph based on these segments (super pixels), receives markers (labels) drawn by the user on some super pixels and organizes a competition to...
Using full scale (480×640) RGB-D imagery, we here present an approach for tracking 6d pose of rigid objects at runtime frequency of up to 15fps. This approach is useful for robotic perception systems to efficiently track object's pose during camera movements in tabletop manipulation tasks with high detection rate and real-time performance. Specifically, appearance-based feature correspondences are...
Context is an important factor for domestic service robots to consider when interpreting their environments to perform tasks. In people's homes, rooms are laid out in a specific arrangement to enable comfortable and efficient living; for example, the living room is central to the house, and the dining room is adjacent to the kitchen. The identity of the objects in a room are a strong cue for determining...
An approach was presented to detect the racket position and pose. The racket region is first extracted by the segmentation technique with the color information. The improved LSD algorithm was investigated to detect the line segments in the racket region image and then straight lines were extracted by cluster and the image coordinates of the vertices of the rectangle were obtained. Finally, the 3D...
In autonomous ground systems, developing a clear model of the surroundings is crucial for operating in any environment. Three-dimensional light detection and ranging (LIDAR) sensors, such as the Velodyne HDL-64E S2, are powerful tools for robotic perception. However, these sensors generate large data sets exceeding one million points per second that can be difficult to use on space, power, and processing...
The paper focuses on the problem of design of robotic controllers able to perform complex service tasks. The proposed approach, rooted in the embodied agent concept, enables the definition of both the structure and behaviour of the system. The supplementing each other mathematical and graphical notations along with the multi-level decomposition enable the specification of the system in details facilitating...
Depth sensors have become increasingly popular in interactive computer vision applications. Currently, most of these applications are limited to indoor use. Popular IR-based depth sensors cannot provide depth data when exposed to sunlight. In these cases, one can still obtain depth information using a stereo camera set up or a special outdoor Time-of-Flight camera, at the cost of a reduced quality...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.