Visually impaired people can navigate unfamiliar areas by relying on the assistance of other people, canes, or specially trained guide dogs. Guide dogs provide the impaired person withthe highest degree of mobility a...
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this work presents the results of an effort to create a high performance quad-rotor MAV named iQCopter for research in the field of swarm robotics and vision-based autonomous operation. During the design, navigational...
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ISBN:
(纸本)9783642254857
this work presents the results of an effort to create a high performance quad-rotor MAV named iQCopter for research in the field of swarm robotics and vision-based autonomous operation. During the design, navigational and computational capabilities have been of major priority. A distinctive feature of the iQCopter is its layered system architecture using a comparably powerful, hard real-time capable x86-computer even in the innermost control loop for maximum transparency and ease of use while a simple fixed-point microcontroller provides a low-level sensor interface and a fallback solution for safety reasons. Finally, a successful system identification and subsequent design of an aggressive H-infinity. controller are presented as benchmark cases to demonstrate the performance of the design.
this paper attempted to construct an robust method for real-time guidance and navigation for autonomous mobile robot, combinedly using both millimeter wave (MMW) radar and vision sensors. vision sensor integrated with...
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Fast software performance is often the focus when developing real-time vision-based control applications for robot *** this paper we have developed a thin,high performance middleware for USARSim and other simulators d...
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Fast software performance is often the focus when developing real-time vision-based control applications for robot *** this paper we have developed a thin,high performance middleware for USARSim and other simulators designed for real-time vision-based control *** includes a fast image server providing images in OpenCV,Matlab or web formats and a simple command/sensor *** interface has been tested in USARSim with an Unmanned Aerial Vehicle using two control applications;landing using a reinforcement learning algorithm and altitude control using elementary motion *** middleware has been found to be fast enough to control the flying robot as well as very easy to set up and use.
the desire of looking for a more natural and efficient interactive method that human cantered are increasing *** to this status,this paper try to explore a new human-computer interactive system based on vision recogni...
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the desire of looking for a more natural and efficient interactive method that human cantered are increasing *** to this status,this paper try to explore a new human-computer interactive system based on vision recognition,which more natural and more conforms to human behaviour *** new system adopts RBF artificial neural network and Hidden Markov model,locates user's input focus combined with user head and the direction where the finger pointed *** this way,the recognition accuracy and recognition speed of system is *** has wide application prospect in some field such as multimedia teaching,computer game,robot control and home electrical appliance ***,capture human point action by camera and convert it to gray *** identify human face and hand from *** characteristic values which extract from head image to the RBF neural network,gain head's level angle and vertical *** the same time,finger action be divided into three phase and build their Markov model respectively in order to separate the hold-phase and get the direction that finger pointed *** this two parameters,the human-computer interaction focus in camera's coordinate system be determined.
robot grasping capabilities are essential for perceiving, interpreting and acting in arbitrary and dynamic environments. While classical computervision and visual interpretation of scenes focus on the robot's int...
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robot grasping capabilities are essential for perceiving, interpreting and acting in arbitrary and dynamic environments. While classical computervision and visual interpretation of scenes focus on the robot's internal representation of the world rather passively, robot grasping capabilities are needed to actively execute tasks, modify scenarios and thereby reach versatile goals. Grasping is a central issue of various robot applications, especially when unknown objects have to be manipulated by the system. We present an approach aimed at the object description, but constrain it by performable actions. In particular, we will connect box-like representations of objects with grasping, and motivate this approach in a number of ways. the contributions of our work are two-fold: in terms of shape approximation, we provide an algorithm for a 3D box primitive representation to identify object parts from 3D point clouds. We motivate and evaluate this choice particularly toward the task of grasping. As a contribution in the field of grasping, we present a grasp hypothesis generation framework that utilizes the box presentation in a highly flexible manner.
this paper provides an overview of the vision and ongoing developments of the cyberinfrastructure component of NEES, the George E. Brown, Jr. Network for Earthquake Engineering Simulation. A core task of this cyberinf...
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ISBN:
(纸本)9781617388446
this paper provides an overview of the vision and ongoing developments of the cyberinfrastructure component of NEES, the George E. Brown, Jr. Network for Earthquake Engineering Simulation. A core task of this cyberinfrastructure is to archive research data resulting from experiments at a range of NEES equipment laboratories located across the United States. A new phase of NEES has begun in October 2009, building the cyberinfrastructure on the HUB platform that has proven successful in the area of nanotechnology. A key feature of the new NEEShub being created is that it not only provides convenient access to the NEES Data Repository, but also hosts a range of tools for data visualization, analysis, and computational simulation that can be invoked directly at the *** web site, without the need for software download and installation. this environment provides advanced functionality for research use as well as for educational purposes.
In this paper, we present an approach for recognizing and tracking a moving color object which break into the robot's camera vision in the mobile robot. In order to obtain input feature for moving-object recogniti...
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ISBN:
(纸本)9788988678183
In this paper, we present an approach for recognizing and tracking a moving color object which break into the robot's camera vision in the mobile robot. In order to obtain input feature for moving-object recognition, we perform image processing of the video sequence by background substraction method. Given the images of video sequence provided by a fixed camera on mobile robot, disparity images in different time are integrated into a tracking framework in order to find the HSV space based color features of the moving object. Based on the color object's moving and background substraction method, an color classifier based on the HS thresholds is trained to detect moving object. We show experimentally that the moving-object recognition performance can be improved significantly by using information about object's edge as an additional feature. through the recognition, we can find the center of the moving object and control the mobile robot's angle and rate to realize the vision-tracking of moving object. Our system aims at applications in the field of robot intelligence where it is important to do run-on recognition in real-time, to allow for robot sel-learning and not to rely on appointed features.
An algorithm of generating navigation path in orchard for harvesting robot based on machine vision was *** to the features of orchard images,a horizontal projection method was adopt
An algorithm of generating navigation path in orchard for harvesting robot based on machine vision was *** to the features of orchard images,a horizontal projection method was adopt
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