this paper presents two visual trackers from the different paradigms of learning and registration based tracking and evaluates their application in image based visual servoing. they can track object motion with four d...
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ISBN:
(纸本)9781538628188
this paper presents two visual trackers from the different paradigms of learning and registration based tracking and evaluates their application in image based visual servoing. they can track object motion with four degrees of freedom (DoF) which, as we will show here, is sufficient for many fine manipulation tasks. One of these trackers is a newly developed learning based tracker that relies on learning discriminative correlation filters while the other is a refinement of a recent 8 DoF RANSAC based tracker adapted with a new appearance model for tracking 4 DoF motion. Both trackers are shown to provide superior performance to several state of the art trackers on an existing dataset for manipulation tasks. Further, a new dataset with challenging sequences for fine manipulation tasks captured from robot mounted eye-in-hand (EIH) cameras is also presented. these sequences have a variety of challenges encountered during real tasks including jittery camera movement, motion blur, drastic scale changes and partial occlusions. Quantitative and qualitative results on these sequences are used to show that these two trackers are robust to failures while providing high precision that makes them suitable for such fine manipulation tasks.
Indonesia is a country whose economy is developing very fast. According to World Bank data, Indonesia is the country withthe largest economic development in Southeast Asia. Unfortunately, the threat of terrorism in I...
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ISBN:
(纸本)9781728122298
Indonesia is a country whose economy is developing very fast. According to World Bank data, Indonesia is the country withthe largest economic development in Southeast Asia. Unfortunately, the threat of terrorism in Indonesia is very large, therefore it requires a smart system such as military robots. Today's vision-based robot technology has also been used in the development of autonomous military robots. A sophisticated military robot is a robotthat is needed by the military/police because it can be deployed to the battlefield or the eradication of terrorism in a remote or autonomous manner. this system is needed to reduce the remaining casualties from the army, and this combat robot system can also be operated at any time with more numbers than regular soldiers and with minimal operator needs. In this paper, we propose a prototype of a tank-based military robot with object detection and tracking and turrets for simulation of shooting the enemy target based on the computervision. the object tracker will detect an upper body of the target using a library in OpenCV and the tank will track until it reaches the best position to shoot the target. the methods explained, and experimental results were presented.
the study of volleyball robot capture mechanism is a challenging problem, and how to realize real-time and high-precision capture is the focus of current research. In order to solve these problems, this paper designs ...
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this paper reports on the implementation of a GPU-based, real-time eye blink detector on very low contrast images acquired under near-infrared illumination. this detector is part of a multi-sensor data acquisition and...
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In this paper, we propose a multiple object tracking algorithm in three-dimensional (3D) domain based on a state of the art, adaptive range segmentation method. the performance of segmentation processes has an importa...
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ISBN:
(纸本)9780769531533
In this paper, we propose a multiple object tracking algorithm in three-dimensional (3D) domain based on a state of the art, adaptive range segmentation method. the performance of segmentation processes has an important impact on the achieved tracking results. Furthermore, segmentation methods which perform best on intensity images will not necessarily achieve promising results when applied on depth images from a time-of-flight sensor Here, the employed unique segmentation promises a real-time tracking analysis, having a significantly high preprocessing efficiency. Our experiments confirm the robustness, as well as efficiency of the proposed approach.
Development of an environmentally friendly IA building energy-saving machine robot withcomputervision and data mining algorithms are discussed in the paper. For the intelligent system, the computervision should be ...
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We present an assisted navigation scheme designed to control a humanoid robot via a brain computer interface in order to let it interact withthe environment and with humans. the interface is based on the well-known s...
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ISBN:
(纸本)9781479936694
We present an assisted navigation scheme designed to control a humanoid robot via a brain computer interface in order to let it interact withthe environment and with humans. the interface is based on the well-known steady-state visually evoked potentials (SSVEP) and the stimuli are integrated into the live feedback from the robot embedded camera displayed on a Head Mounted Display (HMD). One user controlled the HRP-2 humanoid robot in an experiment designed to measure the performance of the new navigation scheme based on visual SLAM feedback. the new navigation scheme performance is tested in an experience where the user is asked to navigate to a certain location in order to perform a task. It results that without the navigation assistance it is much more difficult to reach the appropriate pose for performing the task. the detailed results of the experiments are reported in this paper, and we discuss the possible improvements of our novel scheme.
In this paper, a novel visual servoing technique for a 5-DOF mobile manipulator with an eye-to-hand camera configuration is introduced the proposed technique can be categorized as an image based (or 2D) visual servoin...
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ISBN:
(纸本)9781424410200
In this paper, a novel visual servoing technique for a 5-DOF mobile manipulator with an eye-to-hand camera configuration is introduced the proposed technique can be categorized as an image based (or 2D) visual servoing using a fixed camera in conjunction with a conic mirror (aka, an omni-directional camera system) providing panoramic vision. Two fictitious landmarks mounted on robot's end-effector along withtheir mirror reflections, when viewed by the camera, provide enough information for 3D reasoning based on the four points viewed on the image plane. Instead of directly using the image features associated withthese four points, five new image features are chosen to make the image Jacobian of full rank A dual estimation/control strategy based on Extended Kalman Filter (EKF) is utilized to (1) estimate camera's intrinsic and extrinsic parameters, and (2) track the coordinates of the landmarks and their reflections on the image plane. the relationship between the translational and rotational velocity of a frame attached to the robot's end-effector and rate of change of the proposed image features are fully formulated the robustness of the proposed visual servoing technique is illustrated through computer simulations.
this paper focuses on describing an implementation for an Ackermann-type vision-based Automated Guided Vehicle (AGV) used for the transportation of materials between and within industrial facilities. this implementati...
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ISBN:
(纸本)9781450389129
this paper focuses on describing an implementation for an Ackermann-type vision-based Automated Guided Vehicle (AGV) used for the transportation of materials between and within industrial facilities. this implementation was done using a ZED Stereo Camera, robot Operating System (ROS), ORB-SLAM2, and Unitronics PLCs and MCUs. the solution proposes a self-localization within a map previously created driving the vehicle around the desired route, the following of such route, and stopping along whenever the operator designated that the vehicle should stop. the vehicle can follow and mimic the route in environments with controlled lighting conditions
Visual representations are chosen to meet the requirements of specified tasks such as object recognition or stereoscopic matching. Related to symmetry based representations that have been used in pattern and object re...
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ISBN:
(纸本)0818638702
Visual representations are chosen to meet the requirements of specified tasks such as object recognition or stereoscopic matching. Related to symmetry based representations that have been used in pattern and object recognition, its structure is determined , not heuristically but precisely, by the nature of the grasping task. Its value is demonstrated by its incorporation into the control of robotthat can manipulate objects under visual guidance.
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