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共 476 条记录，以下是91-100 订阅

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Towards Practical Visual Servoing in robotics

Towards Practical Visual Servoing in Robotics

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10th International conference on computer and robot vision (CRV)

作者： Fomena, Romeo Tatsambon Quintero, Camilo Perez Gridseth, Mona Jagersand, Martin Univ Alberta Dept Comp Sci Comp Vis & Robot Res Grp Edmonton AB Canada

ISBN: (纸本)9780769549835

Visual servoing was introduced in robotics nearly 4 decades ago. However until now, there are still only a handful of known examples of application of this technique in addressing real word robotics problems such as disaster response, assistance for elderly or handicapped people, etc. As the world is moving towards the use of robotics to improve quality of life, it is time to assess the challenges involved in applying visual servoing to solve real world problems. this paper presents an overview of these challenges, by asking the question what are the missing components for practical visual servoing? and by providing practical possible solutions for these components. Illustration of these challenges and our current practical solutions are given using our 7-DoFs Barrett WAM Arm.

关键词： visual servoing visual tracking visual task specification human-robot interface

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Useful computer vision techniques for a robotic head

Useful computer vision techniques for a robotic head

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4th International conference on Informatics in Control, Automation and robotics

作者： Deniz, O. Castrillon, M. Lorenzo, J. Canalis, L. A. Univ Las Palmas Gran Canaria Inst Univ Sistemas Inteligentes & Aplicac Numer I Las Palmas Gran Canaria 35017 Spain

ISBN: (纸本)9789728865832

this paper describes some simple but useful computer vision techniques for human-robot interaction. First, an omnidirectional camera setting is described that can detect people in the surroundings of the robot, giving their angular positions and a rough estimate of the distance. the device can be easily built with inexpensive components. Second, we comment on a color-based face detection technique that can alleviate skin-color false positives. third, a person tracking and recognition system is described. Finally, a simple head nod and shake detector is described, suitable for detecting affirmative/negative, approval/disapproval, understanding/disbelief head gestures.

关键词： social robotics sociable robot person detection omnidirectional vision

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A new miniaturized embedded stereo-vision system (MESVS-I)

A new miniaturized embedded stereo-vision system (MESVS-I)

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5th canadian conference on computer and robot vision

作者： Khaleghi, Bahador Ahuja, Siddhant Wu, Q. M. Jonathan Univ Windsor ECE Dept Intelligent Sensing Syst Lab Windsor ON N9B 3P4 Canada

ISBN: (纸本)9780769531533

We have developed a fully integrated, miniaturized embedded stereo vision system (MESVS-1) which fits into a tiny package of 5x5 cm and consumes very low power (700mA @ 3.3V). the system consists of two small profile CMOS cameras, and a power efficient, dual-core embedded media processor, running at 600 MHz per core. the stereo-matching engine performs sub-sampling, rectification, pre-processing using rank transform, correlation-based matching using three levels of recursion, L/R consistency check and post-processing. We have proposed a novel and efficient post-processing algorithm that removes outliers due to low-texture regions and depth-discontinuities by combining the contributions from the variance map of the rectified image, disparity map, and the variance map of the disparity map. To further enhance the performance of the system, we have implemented a two staged pipelined-processing scheme that takes advantage of the dual-core architecture of the embedded processor, thereby achieving a processing speed of around 10fps for disparity maps.

关键词： Stereo image processing

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Distributed sensor network for multi-robot surveillance

Distributed sensor network for multi-robot surveillance

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5th International conference on Ambient Systems, Networks and Technologies (ANT) / 4th International conference on Sustainable Energy Information Technology (SEIT)

作者： Pennisi, A. Previtali, F. Ficarola, F. Bloisi, D. D. Iocchi, L. Vitaletti, A. Univ Roma La Sapienza Dept Comp Control & Management Engn Rome Italy

Monitoring of populated indoor environments is crucial for the surveillance of public spaces like airports or embassies, where the behavior of people may be relevant in order to determine abnormal situations. In this paper, a surveillance system based on an integration of interactive and non-interactive heterogeneous sensors is described. As a difference with respect to traditional, pure vision-based systems, the proposed approach relies on Radio Frequency Identification (RFID) tags carried by people, multiple mobile robots (each one equipped with a laser range finder and an RFID reader), and fixed RGBD cameras. the main task of the system is to assess the presence and the position of people in the environment. this is obtained by suitably integrating data coming from heterogeneous sensors, including those mounted on board of mobile robots that are in charge of patrolling the environment. the robots also adapt their behavior according to the current situation, on the basis of a Prey-Predator scheme. Experimental results carried out both on real and on simulated data show the effectiveness of the approach. (C) 2014 Published by Elsevier B.V.

关键词： Mobile robots Wireless Sensor Networks Multi-robot Systems Multi-robot Surveillance

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Design and Implementation of ROS-based 5G Operation and Maintenance Center Inspection robot Navigation System 4

Design and Implementation of ROS-based 5G Operation and Main...

引用

4th International conference on robotics and computer vision, ICRCV 2022

作者： Lv, Canjiong Xu, Wenxia Yu, Baocheng Luo, Liwei Liao, Chuyuan Yin, Shuyuan Wuhan Institute of Technology School of Computer Science and Engineering Wuhan China Wuhan FiberHome Technology Service Co. Ltd Wuhan China

ISBN: (数字)9781665481700

ISBN: (纸本)9781665481700

To realize the intelligent navigation and safe obstacle avoidance of the intelligent inspection robot in the complex environment of the 5G operation and maintenance centers, and build an accurate environment map, this paper designs an autonomous navigation system for 5G operation and maintenance center inspection robots based on the robot operating system ROS. During the navigation process of the inspection robot in a known environment, the A∗ algorithm with a new heuristic function is used for global path planning, and the improved DWA algorithm is used for local path planning. Based on the traditional DWA algorithm, a new distance evaluation function is added to optimize the obstacle avoidance effect of the inspection robot. It enables the robot to reach the target point faster and safer, and conduct related simulation experiments and real-environment experiments. the experimental results show that the method can realize the real-time dynamic obstacle avoidance of the robot in complex environments and reach the endpoint, and it can be closer to the global path planned by the A∗ algorithm. Guarantee the global optimal route. © 2022 IEEE.

关键词： Motion planning

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Improving Measurement Accuracy of Acoustic Intensity in Vibrating Machines Using a Doosan robot 4

Improving Measurement Accuracy of Acoustic Intensity in Vibr...

引用

4th International Informatics and Software Engineering conference, IISEC 2023

作者： Triki, Oussema Cherif, Raef Yaddaden, Yacine Université du Québec À Rimouski Département de Mathématiques Informatique et Génie Rimouski Canada

ISBN: (纸本)9798350318036

Measuring sound intensity is a complex and tedious task in industrial environments. Traditional manual methods can be costly, inaccurate, and potentially dangerous for workers. Integrating robotics and computer vision into acoustic measurement processes offers an innovative solution to these problems. this article provides an overview of the innovative solutions offered by Doosan robotics, in collaboration with Onrobot, an integrated solution for automatic acoustic intensity measurement. the Doosan robot equipped with a scanning camera captures acoustic data and produces a map of the machine's acoustic radiation using computer vision algorithms. this measurement method is accurate, efficient, and safe for workers. It can also be used for continuous monitoring of the industrial acoustic environment. With these innovations, the Doosan robot offers a promising way to automate acoustic intensity measurement, which can be performed faster and with better accuracy to help industries improve sound quality and reduce noise levels to improve worker health and well-being. © 2023 IEEE.

关键词： Noise abatement

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SIMULATING DYNAMICAL SYSTEMS FOR EARLY vision

SIMULATING DYNAMICAL SYSTEMS FOR EARLY VISION

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4th International conference on computer vision theory and Applications

作者： Dellen, Babette Woergoetter, Florentin Max Planck Inst Dynam & Self Org Bernstein Ctr Computat Neurosci Bunsenstr 10 Gottingen Germany UPC CSIC Inst Robot & Informat Ind E-08028 Barcelona Spain Univ Gottingen Bernstein Ctr Computat Neurosci Gottingen Germany

ISBN: (纸本)9789898111692

We propose a novel algorithm for stereo matching using a dynamical systems approach. the stereo correspondence problem is first formulated as an energy minimization problem. From the energy function, we derive a system of differential equations describing the corresponding dynamical system of interacting elements, which we solve using numerical integration. Optimization is introduced by means of a damping term and a noise term, an idea similar to simulated annealing. the algorithm is tested on the Middlebury stereo benchmark.

关键词： Early vision Stereo matching Energy minimization Dynamical systems

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Bulbrobot - Inexpensive Open Hardware and Software robot Featuring Catadioptric vision and Virtual Sonars 4th

BulbRobot - Inexpensive Open Hardware and Software Robot Fea...

引用

4th Iberian robotics conference (robot) - Advances in robotics

作者： Ferreira, Joao Coelho, Filipe Sousa, Armando Reis, Luis Paulo UP Univ Porto FEUP Fac Engn Porto Portugal INESC TEC INESC Technol & Sci Porto Portugal UP LIACC UP Artificial Intelligence & Comp Sci Lab Porto Portugal FEUP DEI FEUP Informat Engn Dept Porto Portugal

ISBN: (纸本)9783030359904;9783030359898

this article proposes a feature-rich, open hardware, open software inexpensive robot based on a Waveshare AlphaBot 2. the proposal uses a Raspberry Pi and a chrome plated light bulb as a mirror to produce a robot with an omnidirectional vision (catadioptric) system. the system also tackles boot and network issues to allow for monitor-less programming and usage, thus further reducing usage costs. the OpenCV library is used for image processing and obstacles are identified based on their brightness and saturation in contrast to the ground. Our solution achieved acceptable framerates and near perfect object detection up to 1.5-m distances. the robot is usable for simple robotic demonstrations and educational purposes for its simplicity and flexibility.

关键词： Object detection

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Environmental Map Building and Location for Mobile robots in Intelligent Space

Environmental Map Building and Location for Mobile Robots in...

引用

4th International conference on Information Computing and Applications (ICICA)

作者： Shen, Yi Liu, Ping Yuan, Mingxin Chen, Shuai Jiang, Yafeng Jiangsu Univ Sci & Technol Sch Mech Elect & Automot Engn Zhangjiagang 215600 Peoples R China

ISBN: (纸本)9783642539329;9783642539312

In order to achieve the environmental information for the mobile robots during the autonomous navigation, an intelligent space is built firstly based on the Zigbee wireless sensor network system (WSNS) and the distributed vision system. After the environmental information for the mobile robots is achieved through the vision system in the built intelligent space, on the one hand, the static obstacles are segmented by using the Otsu threshold method and the mathematical morphology, and the environmental map of the mobile robot is built;on the other hand, the position and the direction of the mobile robot is achieved through the background difference, and the vision-based location for the mobile robot is realized. the experimental results of the environmental map building and the mobile robot location verify the validity of the proposed intelligent space and the image processing method for the map building and location.

关键词： Environmental map building vision location Mobile robot intelligent space

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Predictive control by local visual data - Mobile robot model predictive control strategies using local visual information and odometer data

Predictive control by local visual data - Mobile robot model...

引用

4th International conference on Informatics in Control, Automation and robotics

作者： Pacheco, Lluis Luo, Ningsu Univ Girona Inst Informat & Applicat Girona Spain

ISBN: (纸本)9789728865832

Nowadays, the local visual perception research, applied to autonomous mobile robots, has succeeded in some important objectives, such as feasible obstacle detection and structure knowledge. this work relates the on-robot visual perception and odometer system information with the nonlinear mobile robot control system, consisting in a differential driven robot with a free rotating wheel. the description of the proposed algorithms can be considered as an interesting aspect of this report. It is developed an easily portable methodology to plan the goal achievement by using the visual data as an available source of positions. Moreover, the dynamic interactions of the robotic system arise from the knowledge of a set of experimental robot models that allow the development of model predictive control strategies based on the mobile robot platform PRIM available in the Laboratory of robotics and computer vision. the meaningful contribution is the use of the local visual information as an occupancy grid where a local trajectory approaches the robot to the final desired configuration, while avoiding obstacle collisions. Hence, the research is focused on the experimental aspects. Finally, conclusions on the overall work are drawn.

关键词： autonomous mobile robots computer vision control system identification model based control predictive control trajectory planning obstacle avoidance robot vision

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