The modern technological era is witnessing a significant advancement in AI related fields such as machine learning, mobile robots and autonomous vehicles. The success of such systems is immensely dependent on computer...
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The modern technological era is witnessing a significant advancement in AI related fields such as machine learning, mobile robots and autonomous vehicles. The success of such systems is immensely dependent on computervisionalgorithms. The entirely software enabled intelligent vehicles will soon be hitting the roads in the coming decade. Such self-controlled mobile robots may still be vulnerable to accidents or crashes. Therefore, the industry requires some state of the art techniques to substantiate the safety and protection of its passengers as well as other road users. Simulation based testing methods have been in use from a long time, but the newer smart vehicle innovations require better versions of simulation techniques. We thus provide an improved mechanism for simulation testing to validate safe navigation of cars in variety of traffic scenarios. Neural network approach integrated with agent based modelling is described in this paper.
The best way for researchers to test their algorithms and design concepts, before experimenting on real human beings, is to create simulation environment platforms. In this paper, a virtual simulator for active endosc...
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ISBN:
(纸本)9781538617106
The best way for researchers to test their algorithms and design concepts, before experimenting on real human beings, is to create simulation environment platforms. In this paper, a virtual simulator for active endoscopic capsules is proposed. The simulator intends to provide researchers with an environment to test their vision and navigation algorithms applied to endoscopic capsule applications. The proposed simulation was created using Gazebo simulator,, a robust physics engine under Robotic Operating System (ROS) environment. It consists of three main software modules: (i) capsule model, (ii) capsule control, and (iii) Gazebo customized plugins. The current version of the simulator can provide three main functions: lumen tracking, capsule tele-operation and haptic feedback for capsule navigation.
This paper presents an automated defect management system based on machine learning and computervision that detects and quantifies different types of defects in porcelain products. The system is developed in collabor...
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ISBN:
(纸本)9781538626276
This paper presents an automated defect management system based on machine learning and computervision that detects and quantifies different types of defects in porcelain products. The system is developed in collaboration with an industrial porcelain producer and integrates robots, artificial vision and machine learning. At present, in most of the companies involved in the porcelain industry, defect detection is performed manually by employees. An intelligent system for product monitoring and defect detection is very much needed. Our proposed system is implemented through a convolutional neural network which analyzes images of the products and predicts if the product is defective or not. Experimental evaluation on an image data set acquired at the industrial partner shows promising results. The proposed architecture will finally have a positive economic impact for the company by optimizing the production flow and reducing the production costs.
In this paper, we design an autonomous flight controller for height regulation and bang-bang controller for directional control of a light-weight flapping-wing micro air vehicle (FWMAV) with limited payload. We also p...
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The computational framework, based on the conformal camera, is developedfor processingvisual information during smooth pursuit movements of a robotic eye. During smooth pursuit, the image of the tracked object remains...
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The intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that1were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisc...
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In this paper, we design an autonomous flight controller for height regulation and bang-bang controller for directional control of a light-weight flapping-wing micro air vehicle (FWMAV) with limited payload. We also p...
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ISBN:
(纸本)9781509037636
In this paper, we design an autonomous flight controller for height regulation and bang-bang controller for directional control of a light-weight flapping-wing micro air vehicle (FWMAV) with limited payload. We also present autonomous vision-based target tracking for a FWMAV equipped with a low-cost and light-weight first person view (FPV) camera. We construct a ground station, integrated with control and visionalgorithms, which performs the image processing and the computation of control inputs based on the acquired state variables from motion capture system. In addition, we employ a vision algorithm for a low-quality camera to detect a static target with the discussions on the techniques to improve the reliability of visual detection. Experimental results show satisfactory flight performance, achieving the height regulation and directional control, and autonomous vision-based target tracking.
Spherical stereo vision is a kind of stereo vision system built by fish-eye lenses, which discussing the stereo algorithms conform to the spherical model. Epipolar geometry is the theory which describes the relationsh...
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ISBN:
(纸本)9781628414967
Spherical stereo vision is a kind of stereo vision system built by fish-eye lenses, which discussing the stereo algorithms conform to the spherical model. Epipolar geometry is the theory which describes the relationship of the two imaging plane in cameras for the stereo vision system based on perspective projection model. However, the epipolar in uncorrected fish-eye image will not be a line but an arc which intersects at the poles. It is polar curve. In this paper, the theory of nonlinear epipolar geometry will be explored and the method of nonlinear epipolar rectification will be proposed to eliminate the vertical parallax between two fish-eye images. Maximally Stable Extremal Region (MSER) utilizes grayscale as independent variables, and uses the local extremum of the area variation as the testing results. It is demonstrated in literatures that MSER is only depending on the gray variations of images, and not relating with local structural characteristics and resolution of image. Here, MSER will be combined with the nonlinear epipolar rectification method proposed in this paper. The intersection of the rectified epipolar and the corresponding MSER region is determined as the feature set of spherical stereo vision. Experiments show that this study achieved the expected results.
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