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In this paper, a novel approach based on tubularity tracking and graph cuts for road detection from satellites images is presented. The most important feature of the proposed method is its local peak detection filter. Unlike the tubularity based road or road like curvilinear structure detection methods presented in the literature, proposed method samples local peaks from tubularity image by tracking...
Robotic-assisted beating heart surgery aims to eliminate the relative motion of heart, so that, the surgeon can operate on a stabilized heart without any kind of additional instruments. In this literature, the robot actively cancels heart motion by closely following a point of interest (POI) of heart surface. In this paper, we use biological signal such as ECG or blood pressure, to improvement of...
The flexible endoscope has great potential to reach a diseased organ through a natural opening of the human body to perform surgeries without leaving a scar on the body surface. Despite such advances in reaching the diseased organ, using the conventional flexible endoscope to complete surgical procedure is still largely constrained by the limited degree-of-freedoms (DOFs) of endoscopic instruments...
Being able to provide timely help to victims trapped in various disasters is very important. In this paper a novel strategy for tracking and following of victims using unmanned ground vehicle (UGV) is discussed. The proposed system is based on motion tracking algorithm and is useful in operations like fire fighting. The system separates the moving objects from the background. Hence further processing...
This paper proposes a novel tool detection and tracking approach using uncalibrated monocular surgical videos for computer-aided surgical interventions. We hypothesize surgical tool end-effector to be the most distinguishable part of a tool and employ state-of-the-art object detection methods to learn the shape and localize the tool in images. For tracking, we propose a Product of Tracking Experts...
Learning motion patterns in dynamic environments is a key component of any context-aware robotic system, and probabilistic mixture models provide a sound framework for mining these patterns. This paper presents an approach for learning motion models from trajectories provided by the tracking system of a moving platform. We present a learning approach in which a Linear Dynamical System (LDS) is augmented...
This paper presents a model reference adaptive control (MRAC) scheme for trajectory tracking of a nonholonomic wheeled mobile robot (WMR) in presence of parametric uncertainty in its dynamic model. The integration of a kinematic controller and a dynamic controller for the dynamic model of a nonholonomic mobile robot has been presented. First, feedback velocity control inputs are designed for the kinematic...
For the purposes of achieving Autonomous Air-to-Air Refuelling (AAAR) in Unmanned Aerial Vehicles (UAVs), this paper presents the use of a visual tracking algorithm based on direct methods and image registration techniques, with the aim of solving the drogue tracking problem in order to obtain vision-based relative position estimations of the aircrafts for the probe and drogue refuelling method. Proposed...
In order to act socially compliant with humans, mobile robots need to show several behaviors that require the prediction of people's motion. For example, when a robot avoids a person, it needs to respect the human's personal space [1] and the avoidance behavior needs to be smooth, so that it is understandable to the interaction partner. To achieve this, the robot needs to reason about future paths...
The paper aims at building a computer vision system for automatic image labeling in robotics scenarios. We show that the weak supervision provided by a human demonstrator, through the exploitation of the independent motion, enables a realistic Human-Robot Interaction (HRI) and achieves an automatic image labeling. We start by reviewing the underlying principles of our previous method for egomotion...
In this paper a new step-wise approach to kinematic calibration of a 5-DOF Gantry-Tau parallel kinematic machine (PKM) is presented. The approach can be adapted to the modular design of the PKM and the calibration could easily perform part of the assembly instructions for the machine. By using measurements from a laser tracker and least-squares estimates of polynomial functions, a typical accuracy...
The study of a Multi-Agent System using multiple autonomous robots has recently attracted much attention. With the problem of target tracking as a typical case study, multiple autonomous robots decide their own actions to achieve the whole task which is tracking target. Each autonomous robot's action influences each other, so, an action decision in coordination with other robots and the environment...
We present a nonlinear model predictive control algorithm for online motion planning and tracking of an omnidirectional autonomous robot. The formalism is based on the minimization of a control Hamiltonian related to the cost function. This minimization is constrained by a nonlinear plant model. The algorithm considers point obstacles and uses a potential field to penalize proximity to those obstacles...
The problem of tracking a moving object on natural scenes has received much attention using passive acquisition vision systems and computationally intense image processing. In this paper we present a simple active tracking system using a laser diode, steering gear box setup and a photoresistor, which is capable of acquiring two dimensional coordinates in real time without the need of any image processing...
We present a control strategy for a robot that juggles a ball with a single actuated paddle that is attached to the tip of a pendulum-like mechanism. The robot juggles the ball from side-to-side by striking the ball with the paddle when the pendulum reaches its peak angles. Sustained juggling is only possible if the pendulum motion is synchronized to the ball motion. We propose adapting the paddle...
Motion compensation is a prominent application in robotic beating heart surgery, with significant potential benefits for both surgeons and patients. In this paper we investigate an activate assistance control scheme on a simple tracking task, which helps the surgeon guide the robot on a predefined reference. The control is implemented on top of a shared control system, which serves as a basis for...
Autonomous robot navigation in unstructured and dynamic environments requires detection and estimation of the trajectories of moving obstacles so as to perform collision free navigation. This problem is further compounded by the need to detect and track moving objects while the robot is in motion. This poses the challenge of detecting and tracking moving obstacles from a moving observer as against...
This paper proposes a receding horizon control (RHC) scheme incorporating a cooperative particle swarm optimization (CPSO) to deal with formation control problem. The CPSO is modified to fit on solving the formation control problem. A numerical simulation is performed on a group of nonholonomic mobile robots to demonstrate the effectiveness of the proposed RHC scheme incorporating CPSO.
The ability to find similar features between two distinct views of the same scene (feature matching) is essential in robotics and computer vision. We are here interested in the robotic-assisted minimally-invasive surgical scenario, for which feature matching can be used to recover tracked features after prolonged occlusions, strong illumination changes, image clutter, or fast camera motion. In this...
In this paper we propose the integration of an online audio beat tracking system into the general framework of robot audition, to enable its application in musically-interactive robotic scenarios. To this purpose, we introduced a staterecovery mechanism into our beat tracking algorithm, for handling continuous musical stimuli, and applied different multi-channel preprocessing algorithms (e.g., beamforming,...
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