At present, the YOLO algorithm has become an indispensable core real-time object detection technology in aspects such as unmanned driving, face detection, and robot applications, and its versions are constantly being ...
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Withthe rapid development of deep learning technology, object detection, as an important task in the field of computervision, has also been widely applied in the ROS[1](robot Operating System) robot field. ROS, as a...
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Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to real...
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Withthe aging of the population, the traditional elderly care model faces many challenges. the existing elderly care robots have problems such as single function, low work efficiency and poor stability. In view of th...
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ISBN:
(纸本)9798400712647
Withthe aging of the population, the traditional elderly care model faces many challenges. the existing elderly care robots have problems such as single function, low work efficiency and poor stability. In view of these shortcomings, this paper proposes a robot control system for elderly care based on machine vision. the system integrates multiple important functional modules, including: safety protection module, which builds the elderly body posture model based on Mediapipe to analyze and monitor the safety status of the elderly; domestic garbage cleaning module, which integrates yolov8 and MoveIt technology to control the robot to grab and clean up while detecting garbage in the indoor environment; human-computer interaction module, which is used for simple voice interaction withthe elderly. the robot designed in this paper realizes the integration of multi-functions such as detection of elderly falls, daily garbage removal, real-time monitoring and voice emotional interaction, which greatly improves the work efficiency of the robot while taking into account stability, and can better provide services for the elderly. through experimental tests on a modularly constructed robot car, this paper verifies the feasibility of the robot control system.
We have built a mobile robotic platform that features an Active robotic Head (ARH) with two high-resolution cameras that can be switched during robot operation between two configurations that produce respectively pano...
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We have built a mobile robotic platform that features an Active robotic Head (ARH) with two high-resolution cameras that can be switched during robot operation between two configurations that produce respectively panoramic and stereoscopic images. Image disparity is used for improving the quality of the texture. the robot head switches dynamically, based on robot operation between the stereoscopic configuration and the panoramic configuration.
As an extension to classical structured lighting techniques, the use of bi-dimensional pseudo-random color codes is explored to perform range sensing with variable density from a stereo calibrated rig and a projector....
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ISBN:
(纸本)9780769527864
As an extension to classical structured lighting techniques, the use of bi-dimensional pseudo-random color codes is explored to perform range sensing with variable density from a stereo calibrated rig and a projector. Pseudo-random codes are used to create artificial textures on a scene which are extracted and grouped in a confidence map to ensure reliable feature matching between pairs of images taken from two cameras. Depth estimation is performed on corresponding points with progressive refinement as the pseudo-random pattern projection is marched over the scene to increase the density of matched features, and achieve dense 3D reconstruction. the potential of hi-dimensional pseudo-random color patterns for structured lighting is demonstrated in terms of patterns computation, ease of extraction, matching confidence level, as well as density of depth estimation for 3D reconstruction.
We show how a greedy approach to visual search - i.e., directly moving to the most likely location of the target - can be suboptimal, if the target object is hard to detect. Instead it is more efficient and leads to h...
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ISBN:
(纸本)9780769527864
We show how a greedy approach to visual search - i.e., directly moving to the most likely location of the target - can be suboptimal, if the target object is hard to detect. Instead it is more efficient and leads to higher detection accuracy to first look for other related objects, that are easier to detect. these provide contextual priors for the target that make it easier to find. We demonstrate this in simulation using POMDP models, focussing on two special cases: where the target object is contained within the related object, and where the target object is spatially adjacent to the related object.
In this paper we develop an algorithm for corridor navigation and obstacle avoidance using visual potential for visual navigation by an autonomous mobile robot. the robot is equipped with a camera system which dynamic...
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ISBN:
(纸本)9780769527864
In this paper we develop an algorithm for corridor navigation and obstacle avoidance using visual potential for visual navigation by an autonomous mobile robot. the robot is equipped with a camera system which dynamically captures the environment. the visual potential is computed from an image sequence and optical flow computed from successive images captured by the camera mounted on the robot. Our robot selects a local pathway using the visual potential observed through its vision system. Our algorithm enables mobile robots to avoid obstacles without any knowledge of a robot workspace. We demonstrate experimental results using image sequences observed with a moving camera in a simulated environment and a real environment. Our algorithm is robust against the fluctuation of displacement caused by mechanical error of the mobile robot, and the fluctuation of planar-region detection caused by a numerical error in the computation of optical flow.
In this paper we introduce the Fourier tag, a synthetic fiducial marker used to visually encode information and provide controllable positioning. the Fourier tag is a synthetic target akin to a bar-code that specifies...
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ISBN:
(纸本)9780769527864
In this paper we introduce the Fourier tag, a synthetic fiducial marker used to visually encode information and provide controllable positioning. the Fourier tag is a synthetic target akin to a bar-code that specifies multi-bit information which can be efficiently and robustly detected in an image. Moreover the Fourier tag has the beneficial property that the bit string it encodes has variable length as a function of the distance between the camera and the target. this follows from the fact that the effective resolution decreases as an effect of perspective. this paper introduces the Fourier tag, describes its design, and illustrates its properties experimentally
We examine the problem of finding a single meeting location for a group of heterogeneous autonomous mobile robots, such that the total system cost of traveling to the rendezvous is minimized. We propose two algorithms...
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ISBN:
(纸本)9780769527864
We examine the problem of finding a single meeting location for a group of heterogeneous autonomous mobile robots, such that the total system cost of traveling to the rendezvous is minimized. We propose two algorithms that solve this problem. the first method computes an approximate globally optimal meeting point using numerical simplex minimization. the second method is a computationally cheap heuristic that computes a local heading for each robot: by iterating this method, all robots arrive at the globally optimal location. We compare the performance of both methods to a naive algorithm (center of mass). Finally, we show how to extend the methods with inter-robot communication to adapt to new environmental information.
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