In this paper, we present an enhanced loop closure method* based on image-to-image matching relies on quantized local Zernike moments. In contradistinction to the previous methods, our approach uses additional depth i...
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ISBN:
(纸本)9781628414967
In this paper, we present an enhanced loop closure method* based on image-to-image matching relies on quantized local Zernike moments. In contradistinction to the previous methods, our approach uses additional depth information to extract Zernike moments in local manner. These moments are used to represent holistic shape information inside the image. The moments in complex space that are extracted from both grayscale and depth images are coarsely quantized. In order to find out the similarity between two locations, nearest neighbour (NN) classification algorithm is performed. Exemplary results and the practical implementation case of the method are also given with the data gathered on the testbed using a Kinect. The method is evaluated in three different datasets of different lighting conditions. Additional depth information with the actual image increases the detection rate especially in dark environments. The results are referred as a successful, high-fidelity online method for visual place recognition as well as to close navigation loops, which is a crucial information for the well known simultaneously localization and mapping (SLAM) problem. This technique is also practically applicable because of its low computational complexity, and performing capability in real-time with high loop closing accuracy.
The logical structure of robot vision systems is introduced. It can be used as a basis for designing such systems. Both sensor data fusion and knowledge representation in a vision system may be broken down into four h...
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ISBN:
(纸本)081944300X
The logical structure of robot vision systems is introduced. It can be used as a basis for designing such systems. Both sensor data fusion and knowledge representation in a vision system may be broken down into four hierarchical levels where at each level knowledge representation in the form of partial models and data fusion complement each other. Multi-processor architectures supporting this type of structure are introduced as a particularly efficient basis for robot vision systems. Practical implementation is given.
This paper introduces a tool developed for remote operation and simulation of swarms of robots. The tool provides a possibility for the user to easily and simultaneously operate multiple robots remotely. The robots ca...
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ISBN:
(纸本)081945561X
This paper introduces a tool developed for remote operation and simulation of swarms of robots. The tool provides a possibility for the user to easily and simultaneously operate multiple robots remotely. The robots can be either simulated or real physical robots. In addition to direct control of the robots, the user interface part of the tool can be used to develop robot behaviours using plug-ins made with Java or our graphical state machine editor. The development and testing of behaviours can be facilitated by using methods tested with the supporting simulation features of the tool before controlling real robots.
This paper describes a practical approach for environment perception using fusion of active ranging with a low-power laser and passive, stereo based ranging. A low-cost, coarse pitch linear detector is used, but still...
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ISBN:
(纸本)081942983X
This paper describes a practical approach for environment perception using fusion of active ranging with a low-power laser and passive, stereo based ranging. A low-cost, coarse pitch linear detector is used, but still sufficient distance accuracy for mobile robotics is achieved by using a new method of sub-pixel calibration. The device is intended for mobile robot or vehicle perception duties in obstacle detection and target position measurement.
This paper deals with a two-step segmentation algorithm for 2-D convex objects. First the objects are approximated by an elliptic shape description, and then the boundary of the object is refined using dynamic program...
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ISBN:
(纸本)0819413208
This paper deals with a two-step segmentation algorithm for 2-D convex objects. First the objects are approximated by an elliptic shape description, and then the boundary of the object is refined using dynamic programming. The reason for refinement is accurate shape classification.
Diffractive 2D and 3D grating optics as enabling technologies are on a good way to technically realize specific features well known in human vision. How does the human eye do its job in visual information processing?
ISBN:
(纸本)0819438626
Diffractive 2D and 3D grating optics as enabling technologies are on a good way to technically realize specific features well known in human vision. How does the human eye do its job in visual information processing?
This paper presents a new exponential behavior based entropy operator for extracting image edges. Edges can be detected by computing the entropy of brightness or hue in a local region of a picture. The entropy depends...
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ISBN:
(纸本)0819413208
This paper presents a new exponential behavior based entropy operator for extracting image edges. Edges can be detected by computing the entropy of brightness or hue in a local region of a picture. The entropy depends not only on the rate of change of brightness or hue, but also on the average brightness or hue. The experimental result verifies the efficiency of the new entropy operator.
Collision freeness is an essential feature in off-line programming of robots. It relates to safe and efficient operation, and becomes even more critical, when two or more robots are sharing the same work space, which ...
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ISBN:
(纸本)081942983X
Collision freeness is an essential feature in off-line programming of robots. It relates to safe and efficient operation, and becomes even more critical, when two or more robots are sharing the same work space, which is typical for so called holonic robot systems. Here we are reporting a simple and fast path planning algorithm based on configuration space method, suitable for holonic robot applications. The basic version of the algorithm can be found from the literature, and we have extended and modified it to improve its feasibility. Simulation and experimental tests have been carried out succesfully.
A machine vision system has been developed to separate half cut peaches with small splinters from clean ones. The system uses the different spectral profile of both together with an ad hoc illuminating system. The sys...
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ISBN:
(纸本)0819426407
A machine vision system has been developed to separate half cut peaches with small splinters from clean ones. The system uses the different spectral profile of both together with an ad hoc illuminating system. The system is capable of process 30 half peaches per second. The hardware and software solutions are described.
An approach to image analysis is described consisting of five stages: edge detection, thresholding, linking, shape description and shape abstraction. The approach is illustrated by applying the steps to the problem of...
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ISBN:
(纸本)0819413208
An approach to image analysis is described consisting of five stages: edge detection, thresholding, linking, shape description and shape abstraction. The approach is illustrated by applying the steps to the problem of automatic inspection.
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