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The number detection is useful in various applications such as license plate localization, detection of number button in elevator, and detection of exit number sign in public transport station. In this paper, we propose number detection methods in natural image using AdaBoost based on Modified Census Transform (MCT) features. It is a difficult task to detect numbers, characters, and specific symbols,...
This paper proposes segmentation method in mixed Korean and English printed text which contains touching characters using clustering strategy. At the first step, a vertical projection of image text is determined, and clustering process performed on it. Then the cluster with the smallest mean value used as candidate segmentation point. This process will produce candidate bounding boxes. Furthermore,...
Fast detection of moving vehicle is essential for autonomous driving. In this paper we propose fast vehicle classification algorithm for autonomous vehicle using orientation histogram and segmented line projection, and also works well with in urban environment. The rapidness of our approach stems from the sequential laser data processing and orientation histogram techniques. Whereas accurate classification...
This paper introduces a novel vision device for hand gesture-based human-robot interaction. Taking advantage of an eye-in-hand configuration, the proposed device guarantees that a target hand is projected always onto images captured from a camera. On the basis of the device, an adaptive histogram-based hand region segmentation algorithm is also proposed especially to enhance the performance against...
Disparity computation in occluded or texture-less regions is considered to be a fundamental issue in dense stereo matching, but there is another practical issue that must be resolved before it can be used effectively in various robotics applications. This issue is the problem of intensity difference between corresponding pixels of an image pair. To tackle such problems, we present a dependable stereo...
Topological navigation consists for a robot in navigating in a topological graph which nodes are topological places. Either for indoor or outdoor environments, segmentation into topological places is a challenging issue. In this paper, we propose a common approach for indoor and outdoor environment segmentation without elaborating a complete topological navigation system. The approach is novel in...
We present a monocular vision-based navigation system that incorporates two contrasting approaches: region segmentation that computes the road appearance, and road boundary detection that estimates the road shape. The former approach segments the image into multiple regions, then selects and tracks the most likely road appearance. On the other hand, the latter detects the vanishing point and road...
This paper presents a novel object detection and segmentation method utilizing an inpainting algorithm. Inpainting is a concept of recovering missing image regions based on their surroundings, which were originally used for restoration of damaged paintings. In this paper, we newly utilize inpainting to judge whether an object candidate region includes the foreground object or not. The key idea is...
We addresvs the problem of object segmentation in image sequences where no a-priori knowledge of objects is assumed. We take advantage of robots' ability to move, gathering multiple images of the scene. Our approach starts by extracting edges, uses a polar domain representation and performs integration over time based on a simple dilation operation. The proposed system can be used for providing reliable...
Environment perception is a major research issue which is very important in the field of robotic system. In order to identify the horizon line and the drivable region, we have proposed a visual-perception system based on an automatic image discarding method as a simple solution to improve the system performance. In this paper, all these previous methods are organized in a visual-perception layer which...
Computed tomography (CT) has unconquerable advantage over other imaging techniques for detecting lung nodules. The size and the growth rate of lung nodules are the most important indicators for the maglignancy of a lung cancer. Therefore, the accurate segmentation of the lung nodules is of great significance for the diagnosis of the lung cancers. In this paper, we propose a novel method for the segmentation...
For an apple harvesting robot, the machine vision system is a very important part which is used to recognize and locate apples. In this paper, an automatic apple recognition method based on image processing technology is developed for apple harvesting robot. Firstly, 2R-G-B grey value transform is performed, and the adaptive threshold Otsu algorithm is used for image segmentation. Then, a series of...
Watershed cuts are among the fastest segmentation algorithms and therefore well suited for interactive segmentation of very large 3D data sets. To minimize the number of user interactions (“seeds”) required until the result is correct, we want the computer to actively query the human for input at the most critical locations, in analogy to active learning. These locations are found by means of suitable...
Service robots that should operate autonomously need to perform actions reliably, and be able to adapt to their changing environment using learning mechanisms. Optimally, robots should learn continuously but this approach often suffers from problems like over-fitting, drifting or dealing with incomplete data.
This paper introduces an unsupervised graph cut based object segmentation algorithm, ShadowCut, for robotic aerial surveillance applications. By exploiting the spatial setting of the aerial imagery, ShadowCut algorithm differs from state-of-the-art object segmentation algorithms ([1] [2] [3] [4] [5]) by not requiring a large number of labelled training data set, nor constant user interaction ([6]...
Hand posture classification is popular in systems that require an effective human-machine interface. Previous classification algorithms suffer from inaccurate results when it is difficult to distinguish a hand from a wrist. To overcome this difficulty, this paper proposes a new algorithm for hand posture classification that uses a histogram of convex defects around the segment of a hand to be classified...
We present an object recognition system which leverages the additional sensing and calibration information available in a robotics setting together with large amounts of training data to build high fidelity object models for a dataset of textured household objects. We then demonstrate how these models can be used for highly accurate detection and pose estimation in an end-to-end robotic perception...
Robot-assisted cardiac surgeries are effective for operations in limited spaces. Enhancement in safety functions based on automatic tracking of surgical instrument position to prevent inadvertent harmful events as cardiac tissue perforation and instrument collisions can be meaningful augmentation to current robot surgery system. A vision based instrument tracking scheme as a core algorithm to implement...
Vision is an essential part in robotic systems, where attention plays an important role to cope with the complexity of the real world. Attention mechanisms have been proposed in the past to guide search and also segmentation of objects. Building on recent advances in affordable 3D sensing we first attend to objects using a novel saliency map, based on color and depth information. We then segment attended...
Accurate segmentation of sidewalks from satellite images can be required in various applications, for example giving walking directions to pedestrians and robot navigation. We propose a framework to construct sidewalk and crosswalk maps from satellite images. This is a challenging task, since typically sidewalks in satellite images are highly occluded by trees and their shadows and also there can...
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