Due to the problems of noise, textureless region and depth discontinuity in stereo matching, a new matching method based on two cameras and one 3D image sensor is proposed in this paper. Though the 3D image sensor can...
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ISBN:
(纸本)9780819484154
Due to the problems of noise, textureless region and depth discontinuity in stereo matching, a new matching method based on two cameras and one 3D image sensor is proposed in this paper. Though the 3D image sensor can offer a depth map, it has low resolution and much noise. Therefore, it can not be used to 3D reconstruction. However, combining two cameras with one 3D image sensor and regarding the depth map as an initial sparse disparity map is an advantage method in stereo vision matching. This method can largely improve the matching accuracy and decrease the running time. Finally, a dense disparity map can be obtained. The experiment results indicate that the proposed algorithm performs well and the disparity map has more accuracy comparing with existing methods.
In this document a multi-media security warning design approach for automated production scenarios with industrial robots is introduced. This first approach is based on and adapts design principles of common security ...
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ISBN:
(纸本)9780819484154
In this document a multi-media security warning design approach for automated production scenarios with industrial robots is introduced. This first approach is based on and adapts design principles of common security programs and a German VDI standard for safety warnings design. We focus on direct human-to-robot interaction scenarios, e. g. the online-programming of industrial robots, because of their potential indirect safety impacts, which could be caused by malicious codes infection of a robots control computer. We designed ten different multi-media security warnings, composed of visual and acoustical information. Visual information of warnings is transported via a traffic light metaphor (symbolizing three different threat levels), different warn icons (symbolizing properties of malicious codes) and instructions icons to programmers or operators and additional textual information. With an acknowledgment button in the middle of the warning, the programmer's confirmation of the reception of the warning is verified. Additionally, three different acoustical signals also indicate the threat level of the warning. Furthermore, an evaluation is presented, which uses concepts known from usability testing (method of loud thinking, questionnaire, time measurement). The aim is to evaluate general design criteria of our developed security warnings and tendency of user perception for further advancement of our warnings design.
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.
In this paper we present Phobetor, an autonomous outdoor vehicle originally designed for the 2010 intelligent Ground Vehicle Competition (IGVC). We describe new vision and navigation systems that have yielded 3x incre...
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ISBN:
(纸本)9780819484154
In this paper we present Phobetor, an autonomous outdoor vehicle originally designed for the 2010 intelligent Ground Vehicle Competition (IGVC). We describe new vision and navigation systems that have yielded 3x increase in obstacle detection speed using parallel processing and robust lane detection results. Phobetor also uses probabilistic local mapping to learn about its environment and Anytime Dynamic A* (AD*) to plan paths to reach its goals. Our vision software is based on color stereo images and uses robust, RANSAC-based algorithms while running fast enough to support real-time autonomous navigation on uneven terrain. AD* allows Phobetor to respond quickly in all situations even when optimal planning takes more time, and uses incremental replanning to increase search efficiency. We augment the cost map of the environment with a potential field which addresses the problem of "wall-hugging" and smoothes generated paths to allow safe and reliable path-following. In summary, we present innovations on Phobetor that are relevant to real-world robotics platforms in uncertain environments.
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 face recognition, one of the most important ability of intelligentvision, are discussed in this paper. A new idea of model-based processing are presented. The algorithms of face modeling, global matching and fine...
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ISBN:
(纸本)0819423068;9780819423061
The face recognition, one of the most important ability of intelligentvision, are discussed in this paper. A new idea of model-based processing are presented. The algorithms of face modeling, global matching and fine matching, and feature points extraction etc. are given. Finally, a rapid and robust scheme for human face recognition are resulted.
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.
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