the lack of depth information in camera images has triggered much work on their use for localization and mapping in robotics. In particular, specific landmark parametrizations that isolate the unknown depth in one var...
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In this paper, high precision motion control of piezo-actuated stage is discussed. In order to cope withthe nonlinear characteristic of the piezoelectric actuator (PEA) and get high tracking performance, this paper p...
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vision based techniques are by now well established means for contactless measuring applications, e.g. in industrial automation, optical inspection, medical imaging or robot navigation. However, the development and im...
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ISBN:
(纸本)9789897581984
vision based techniques are by now well established means for contactless measuring applications, e.g. in industrial automation, optical inspection, medical imaging or robot navigation. However, the development and implementation of these applications on small-sized embedded systems is still challenging, because image processing algorithms require quite a lot CPU performance. therefore, code optimization has to be considered in the development process. In this work we present our results on implementation and benchmarking of stereo disparity algorithms on an ARM/DSP embedded multicore platform. the algorithms are developed withthe computer algebra framework MATLAB from Mathworks (R), which allows to generate generic and processor-specific C/C++ code automatically. the analysis of the code generation process and the benchmark of the target performance are the main focus of this contribution.
In this paper, a model predictive control is developed for motion planning and control of nonholonomic autonomous forklifts. the proposed model predictive motion control (MPMC) determines the control inputs for tracki...
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In this paper, a trajectory generation algorithm within an integrated flight guidance and control system is presented. the approach uses clothoids to deal withthe problem of curvature steps during the transition phas...
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In some practical work by robots, it may happen that a working robot can not detect a target object for handling due to a sensor occlusion. In this situation, if another cooperative robot observes the working robot wi...
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ISBN:
(纸本)9789897581984
In some practical work by robots, it may happen that a working robot can not detect a target object for handling due to a sensor occlusion. In this situation, if another cooperative robot observes the working robot withthe target object and detects their positions and orientations, it will be possible for the working robot to complete the handling task. Such behavior is a kind of indirect cooperation. this study considers a method for such an indirect cooperation based on an observation by the partner robot. the observing robot will be able to perform such a cooperation by obtaining feature points and corresponding points on the working robot with hand and the target object from multiple captured images, then computing 3-D positions of the targets and motion of the hand. In this study, we mainly focus on 3-D position detection of the working robot and try applying SURF (Speeded Up Robust Features) descriptor and a voting method for detecting the feature points and corresponding points. the 3-D position of the working robot is then computed from these corresponding points based on stereo visiontheory. Fundamental experiments confirmed the validity of presented method.
In this paper we present considerations for implementing and using robot vision in glass production. We concentrate specifically on the forming processes of those shell glass objects that are still produced with a con...
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ISBN:
(纸本)9783319212906;9783319212890
In this paper we present considerations for implementing and using robot vision in glass production. We concentrate specifically on the forming processes of those shell glass objects that are still produced with a considerable amount of manual labour. It is shown that every practical robot automation solution in these production phases must include the perception of the glass object's shape, implemented with computer vision. A number of particular requirements and conditions are identified, originating from high and ever changing temperature and from specific production environment conditions.
the distributed state estimation problem for the time-varying stochastic system is considered in this paper. through minimizing the mean square error for each sensor, the optimal distributed Kalman filter (ODKF) based...
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Traditional autopilots suffer from inherent flight pathcontrol objective conflict problems, as arbitrary flight path and speed targets cannot be maintained with saturated energy rate control. Elementary flight envelo...
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In the work there is analyzed a process of developing and arranging information support systems of mobile vehicles withthe enhanced autonomous level and fully autonomous. there are reviewed current trends in creating...
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ISBN:
(纸本)9789897581984
In the work there is analyzed a process of developing and arranging information support systems of mobile vehicles withthe enhanced autonomous level and fully autonomous. there are reviewed current trends in creating this sort of systems. In order to increase the effectiveness of processes of creating intellectual autopilots it is proposed to introduce into the review the space of similar systems configuration. the space axes are: sensors, models of environment, and algorithmic support. the points of this space are "assemblage points" of particular application systems. the configuration space enables to efficiently resolve the process of creating information support systems withthe help of compliance matrixes, evaluate possible options of arranging the particular system. there are proposed solutions on components per each axis of the configuration space. As the basis for mobile means information systems the real time multifunctional vision systems and software-hardware unification is proposed. In terms of the hardware components, there are reviewed, in detail, arrangements of real time vision systems. the construction of external world models is proposed to establish on the interpreting navigation concept. In terms of algorithmic support, the combination of the split-level processing algorithms is proposed to implement based on large-scale frames and unification of software implementations. Examples of using the above-described approaches and solutions are presented.
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