Augmented Reality (AR) is a technology in which real-world visual data is combined with an overlay of computer graphics, enhancing the original feed. AR is an attractive tool for teleoperated UGV UIs as it can improve...
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ISBN:
(纸本)9780819484154
Augmented Reality (AR) is a technology in which real-world visual data is combined with an overlay of computer graphics, enhancing the original feed. AR is an attractive tool for teleoperated UGV UIs as it can improve communication between robots and users via an intuitive spatial and visual dialogue, thereby increasing operator situational awareness. The successful operation of UGVs often relies upon both chassis navigation and manipulator arm control, and since existing literature usually focuses on one task or the other, there is a gap in mobile robot UIs that take advantage of AR for both applications. This work describes the development and analysis of an AR UI system for a UGV with an attached manipulator arm. The system supplements a video feed shown to an operator with information about geometric relationships within the robot task space to improve the operator's situational awareness. Previous studies on AR systems and preliminary analyses indicate that such an implementation of AR for a mobile robot with a manipulator arm is anticipated to improve operator performance. A full user-study can determine if this hypothesis is supported by performing an analysis of variance on common test metrics associated with UGV teleoperation.
Detecting lane markings on roads from in-vehicle camera images is very important because it is one of the fundamental tasks for autonomous running technology and safety driving support system. There are several lane m...
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ISBN:
(纸本)9780819484154
Detecting lane markings on roads from in-vehicle camera images is very important because it is one of the fundamental tasks for autonomous running technology and safety driving support system. There are several lane markings detection methods using the width information, but most of these are considered to be insufficient for oblique markings. So, the primary intent of this paper is to propose a detecting lane markings method robust to orientation of markings. In this work, we focus on the width of lane markings standardized by road act in Japan, and propose a method for detecting white lane markings by extracting white regions with constant predefined width from bird's-eye road images after segmentation such as categorical color area one. The proposed method is based on the constrained Delaunay triangulation. The proposed method has a merit that can be measure an exact width for oblique markings on the bird's-eye images because it can be obtained perpendicular width for edge. The effectiveness of the proposed method was shown by experimental results for 187 actual road images taken from an in-vehicle camera.
Omnidirectional vision appears the definite significance since its advantage of acquiring full 360 horizontal field of vision information simultaneously. In this paper, an embedded original omnidirectional vision navi...
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ISBN:
(纸本)9780819484154
Omnidirectional vision appears the definite significance since its advantage of acquiring full 360 horizontal field of vision information simultaneously. In this paper, an embedded original omnidirectional vision navigator (EOVN) based on fish-eye lens and embedded technology has been researched. Fish-eye lens is one of the special ways to establish omnidirectional vision. However, it appears with an unavoidable inherent and enormous distortion. A unique integrated navigation method which is conducted on the basis of targets tracking has been proposed. It is composed of multi-target recognition and tracking, distortion rectification, spatial location and navigation control. It is called RTRLN. In order to adapt to the different indoor and outdoor navigation environments, we implant mean-shift and dynamic threshold adjustment into the Particle Filter algorithm to improve the efficiency and robustness of tracking capability. RTRLN has been implanted in an independent development embedded platform. EOVN likes a smart crammer based on COMS+FPGA+DSP. It can guide various vehicles in outdoor environments by tracking the diverse marks hanging in the air. The experiments prove that the EOVN is particularly suitable for the guidance applications which need high requirements on precision and repeatability. The research achievements have a good actual applied inspection.
This work's goal is the enhancement of first aid measures directly after car accidents by calling suited first aiders via Car-to-Car (C2C) communication and to assist them providing detailed multimedia support ins...
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ISBN:
(纸本)9780819484154
This work's goal is the enhancement of first aid measures directly after car accidents by calling suited first aiders via Car-to-Car (C2C) communication and to assist them providing detailed multimedia support instructions. Our concept combines upcoming C2C communication technologies with established technology, in particular GPS and GSM. After a collision, the proposed FirstAidAssistanceSystem (FAAS) sends a broadcast message using C2C technology according to the IEEE 802.11p standard. All nearby cars (as potential first aiders) are located and at least one nearest candidate (we suggest 3-5) driving towards the accident scene is chosen and notified as first aider. A support guide on his multipurpose display (e. g. the navigation system) provides first aiders with detailed instructions and illustrative tutorials. The paper presents our concept in detail with a discussion of practical evaluation criteria and an introduction of a first test implementation.
The purpose of this paper aims to promote the application of fish-eye lens. Accurate parameters calibration and effective distortion rectification of an imaging device is of utmost importance in machine vision. Fish-e...
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ISBN:
(纸本)9780819484154
The purpose of this paper aims to promote the application of fish-eye lens. Accurate parameters calibration and effective distortion rectification of an imaging device is of utmost importance in machine vision. Fish-eye lens produces a hemispherical field of view of an environment, which appears definite significant since its advantage of panoramic sight with a single compact visual scene. But fish-eye lens image has an unavoidable inherent severe distortion. The precise optical center is the precondition for other parameters calibration and distortion correction. Therefore, three different optical center calibration methods have been researched for diverse applications. Support Vector Machine (SVM) and Spherical Equidistance Projection Algorithm (SEPA) are integrated to replace traditional rectification methods. SVM is a machine learning method based on the theory of statistics, which have good capabilities of imitating, regression and classification. In this research, SVM provides a mapping table between the fish-eye image and the standard image for human eyes. Two novel training models have been designed. SEPA has been applied to promote the rectification effect of the edge of fish-eye lens image. The validity and effectiveness of our achievements are demonstrated by processing the real images.
Spline representations have been successfully used with a genetic algorithm to determine a disparity map for stereo image pairs. This paper describes work to modify the genetic spline algorithm to use a version of the...
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ISBN:
(纸本)9780819479327
Spline representations have been successfully used with a genetic algorithm to determine a disparity map for stereo image pairs. This paper describes work to modify the genetic spline algorithm to use a version of the genetic algorithm with small populations and few generations, previously referred to as "Tiny GAs", to allow algorithm implementations to achieve real-time performance. The algorithm was also targeted at unrectified stereo image pairs to reduce preprocessing making it more suitable for real-time performance. To ensure disparity map quality is preserved, the two dimensional nature of images is maintained to leverage persistent information instead of representing the images as 1-D signals as suggested in the orignal genetic spline algorithm. Experimental results are given of this modified algorithm using unrectified images.
The intelligent Ground Vehicle Competition (IGVC) is one of four unmanned systems student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidiscip...
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ISBN:
(纸本)9780819479327
The intelligent Ground Vehicle Competition (IGVC) is one of four unmanned systems student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned ground vehicle. Teams from around the world focus on developing a suite of dual-use technologies to equip their system of the future with intelligent driving capabilities. Over the past 17 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 70 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.
A predictive object detection algorithm was developed to investigate the practicality of using advanced filtering on stereo vision object detection algorithms such as the X-H Map. Obstacle detection with stereo vision...
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ISBN:
(纸本)9780819479327
A predictive object detection algorithm was developed to investigate the practicality of using advanced filtering on stereo vision object detection algorithms such as the X-H Map. Obstacle detection with stereo vision is inherently noisy and non linear. This paper describes the X-H Map algorithm and details a method of improving the accuracy with the Unscented Kalman Filter (UKF). The significance of this work is that it details a method of stereo vision object detection and concludes that the UKF is a relevant method of filtering that improves the robustness of obstacle detection given noisy inputs. This method of integrating the UKF for use in stereo vision is suitable for any standard stereo vision algorithm that is based on pixel matching (stereo correspondence) from disparity maps.
The purpose of this paper is to discuss the challenge of engineering robust intelligentrobots. Robust intelligentrobots may be considered as ones that not only work in one environment but rather in all types of situ...
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ISBN:
(纸本)9780819479327
The purpose of this paper is to discuss the challenge of engineering robust intelligentrobots. Robust intelligentrobots may be considered as ones that not only work in one environment but rather in all types of situations and conditions. Our past work has described sensors for intelligentrobots that permit adaptation to changes in the environment. We have also described the combination of these sensors with a "creative controller" that permits adaptive critic, neural network learning, and a dynamic database that permits task selection and criteria adjustment. However, the emphasis of this paper is on engineering solutions which are designed for robust operations and worst case situations such as day night cameras or rain and snow solutions. This ideal model may be compared to various approaches that have been implemented on "production vehicles and equipment" using Ethernet, CAN Bus and JAUS architectures and to modern, embedded, mobile computing architectures. Many prototype intelligentrobots have been developed and demonstrated in terms of scientific feasibility but few have reached the stage of a robust engineering solution. Continual innovation and improvement are still required. The significance of this comparison is that it provides some insights that may be useful in designing future robots for various manufacturing, medical, and defense applications where robust and reliable performance is essential.
This paper proposes a contribution for obstacles detection and tracking in the context of car-driving assistance. On the basis of the uv-disparity(9) designed for in-vehicle stereovision, we propose a robust procedure...
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ISBN:
(纸本)9780819479327
This paper proposes a contribution for obstacles detection and tracking in the context of car-driving assistance. On the basis of the uv-disparity(9) designed for in-vehicle stereovision, we propose a robust procedure to detect the objects located on the road plane. This detection is used as an initialization stage for a real-time template matching procedure based on the minimizing of a weighted cost function. An appropriate update of the weights, based upon the quality of the previous matching and depth information, allows to track efficiently non-rigid objects in front of a clutter background. Sequences involving pedestrians are used to demonstrate the efficiency of our procedure.
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