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Development of a walking assistive robot for elderly people in outdoor environments 2

Development of a walking assistive robot for elderly people ...

引用

2nd international conference on Image processing and robotics (ICIPRob)

作者： Nagasawa, Toshinori Oyake, Kodai Kawahara, Masanori Kaneko, Shin-ichiro Capi, Genci Hosei Univ Assist Robot Lab Tokyo Japan Univ Toyama Fac Art & Design Toyama Japan Natl Inst Technol Dept Elect & Control Syst Engn Toyama Japan

ISBN: (纸本)9781665407717

In this paper, we present a new robotic system to assist elderly people during walking in outdoor environments. The walking assistive robot is equipped with depth camera, GPS, compass and ultrasonic sensors. The robot generates the route to the goal location using the google map. Based on the sensor information the robot follows the generated route while avoiding obstacles. In addition, the robot adjusts its speed based on the walking speed of the user and sends information to the family members of the user about the location in the google map. The robot checks the condition of the user and his/her distance to the robot and takes the appropriate decisions. The usefulness of the proposed system is examined experimentally.

关键词： Legged locomotion Image processing robot vision systems Assistive robots Cameras Sensors Internet

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DENSE DEPTH ESTIMATION FOR SURGICAL ENDOSCOPE robot WITH MULTI-BASELINE DEPTH MAP FUSION 30

DENSE DEPTH ESTIMATION FOR SURGICAL ENDOSCOPE ROBOT WITH MUL...

引用

30th IEEE international conference on Image processing (ICIP)

作者： Tan, Zhidong Song, Rihui Huang, Kai Sun Yat Sen Univ Sch Comp Sci & Engn Guangzhou Peoples R China

ISBN: (纸本)9781728198354

Dense depth estimation in endoscopic images can provide surgeons with important information for performing accurate minimally invasive surgeries. However, it is difficult to estimate the absolute depth of the scene based on monocular endoscope. Depth values in endoscopic images change drastically during the operation, which make it hard to estimate them with a fixed baseline. In this paper, we propose a depth estimation scheme with multiple baselines. The monocular endoscope is moved horizontally by a robotic endoscope holder to generate stereo images. A pixel-level depth map fusion algorithm is designed to combine depth values estimated with different baselines. Experimental results show that the proposed method improves the accuracy of depth estimation and the visual quality of depth maps.

关键词： Surgical endoscope multi-baseline stereo depth map processing image fusion

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Path Planning Model of Intelligent robot based on Computer vision Recognition Algorithm 6

Path Planning Model of Intelligent Robot based on Computer V...

引用

6th international conference on Inventive Computation Technologies, ICICT 2023

作者： Zhang, Xiaolei Zhang, Xiaotao Guangdong Country Garden Polytechnic Guangdong Qingyuan China China Australia Business College of Shanxi Shanxi Jinzhong China

ISBN: (纸本)9798350398496

This study has designed a path planning model for intelligent robot based on computer vision recognition algorithm. Here, the redundant nodes present in the pre-planned path are removed through the node screening mechanism, and the later the artificial potential field method is introduced to ensure that a safe distance is always maintained from the unknown obstacles present in the re-planning process. At the same time, this research study adopts the method of setting virtual target points to solve the local extreme value problem that may be encountered in the actual movement of the machine. For developing an efficient and intelligent path planning model, the computer vision should be referred The binocular recognition is equipped with two symmetrical signal acquisition cameras, which can realize the positioning of the status information. The enhanced theoretical vision algorithm is then combined for performing systematic optimization. The performance is validated by testing it on different datasets. © 2023 IEEE.

关键词： Motion planning

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Design and Control Architecture of a Triple 3 DoF SCARA Manipulator for Tomato Harvesting

Design and Control Architecture of a Triple 3 DoF SCARA Mani...

引用

IEEE international conference on Autonomous robot Systems and Competitions (ICARSC)

作者： Tinoco, Vitor Silva, Manuel F. Santos, Filipe N. Magalhaes, Sandro Morais, Raul INESC TEC INESC Technol & Sci Porto Portugal UTAD Univ Tras Os Montes & Alto Douro Vila Real Portugal Univ Porto FEUP Fac Engn Porto Portugal Polytech Inst Porto ISEP IPP Sch Engn Porto Portugal

ISBN: (纸本)9798350301212

The increasing world population, growing need for agricultural products, and labour shortages have driven the growth of robotics in agriculture. Tasks such as fruit harvesting require extensive hours of work during harvest periods and can be physically exhausting. Autonomous robots bring more efficiency to agricultural tasks with the possibility of working continuously. This paper proposes a stackable 3 DoF SCARA manipulator for tomato harvesting. The manipulator uses a custom electronic circuit to control DC motors with an endless gear at each joint and uses a camera and a Tensor processing Unit (TPU) for fruit detection. Cascaded PID controllers are used to control the joints with magnetic encoders for rotational feedback, and a time-of-flight sensor for prismatic movement feedback. Tomatoes are detected using an algorithm that finds regions of interest with the red colour present and sends these regions of interest to an image classifier that evaluates whether or not a tomato is present. With this, the system calculates the position of the tomato using stereo vision obtained from a monocular camera combined with the prismatic movement of the manipulator. As a result, the manipulator was able to position itself very close to the target in less than 3 seconds, where an end-effector could adjust its position for the picking.

关键词： Agricultural robot Agricultural Manipulator Pruning Harvesting

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Construction of Image processing Model Based on Computer vision Algorithm

Construction of Image Processing Model Based on Computer Vis...

引用

2023 IEEE international conference on Image processing and Computer Applications, ICIPCA 2023

作者： Shao, Lin School of Media & Communication Wuhan Textile University Hubei Wuhan430073 China

ISBN: (纸本)9798350314670

As an important part of the mobile robot platform to perceive the external environment, the computer transmits the collected real-time images to the processing unit. After the image information is analyzed and processed, different functions are realized according to the actual needs. Image processing technology is a widely used technology type derived from the continuous development of computer technology. Using it in fruit detection and grading can improve the efficiency of fruit detection and grading, optimize the standard of fruit detection and grading, achieve the purpose of controlling the cost of manual detection and grading, and ensure the profit of fruit industry. We know that the human brain is the most effective biological intelligence system known, and the ability of human visual system to recognize, process and process images far exceeds any existing computer and information processing system. This paper implements image processing technology based on computer vision algorithm, so as to express the actual coordinates of objects in 3D space through 3D voxels, and can also correct the distorted images caused by projection. Compared with traditional BP neural network, image processing technology based on computer vision algorithm has more advantages and higher accuracy. © 2023 IEEE.

关键词： Grading

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vision Measurements for Modal Control Data Preparation 6th

Vision Measurements for Modal Control Data Preparation

引用

6th international conference Mechatronics - Ideas for Industrial Applications

作者： Mendrok, Krzysztof Folta, Karolina AGH Univ Krakow Fac Mech Engn & Robot Dept Robot & Mechatron Al A Mickiewicza 30 PL-30059 Krakow Poland

ISBN: (纸本)9783031634437;9783031634444

Modal control was introduced in the second half of the last century to reduce structure vibrations actively. This concept was forced by the spill-over phenomenon, i.e., the escape of the control signal energy to higher modes of natural vibrations, which resulted in the system's loss of stability. With the concept of modal control, a modal filter MF was developed, which allowed for removing components related to selected modes from the vibration response of an object. Although it had some drawbacks, the modal filter performed well in preparing data for modal control (better than previously used state observers). One of the problems was filtration's effectiveness in changing the object's dynamic parameters (e.g., a change in ambient temperature causing a change in Young's modulus). The adaptive modal filter AMF was developed in the early 90s of the XX century to extend the modal filter to enable modal control for structures with parameters changing over time. One of the features of the AMF approach is the necessity to operate on a large grid of measuring sensors, which severely limits the method's applicability at that time. In the current state of technology, high-speed cameras are increasingly used, which allow for the simultaneous measurement of vibrations of many points in a structure. This measuring technique has several advantages: relatively low complexity of the measuring system, simultaneous measurement of many points, and non-contact measurement. In the paper, the authors check the effectiveness of applying vision measurements for AMF synthesis. In the first step, appropriate software was prepared in the MATLAB environment, and its correct functioning was checked using simulation data. Then, a laboratory experiment was carried out with simultaneous vision and accelerometric measurements, and the data obtained were successfully subjected to AMF.

关键词： Modal control Adaptive modal filter vision measurements high-speed camera

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robotic Sorting of Mechanical and Electrical Parts: An Autonomous vision-Based Approach in a Practical Case Study 10

Robotic Sorting of Mechanical and Electrical Parts: An Auton...

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10th international conference on Control, Instrumentation and Automation, ICCIA 2024

作者： Yousefi, Mohammad Dalvand, Mahdi Khomami, Navid Asadi Masouleh, Mehdi Tale Yazdi, Mohammad Reza Haeri University of Tehran Human and Robot Interaction Lab. School of Mechanical Engineering Tehran Iran University of Tehran Human and Robot Interaction Lab. School of Electrical and Computer Engineering Tehran Iran University of Tehran School of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798331509972

In today's industrial landscape, automation has become increasingly vital, particularly in the deployment of robots for tasks such as sorting machine components. The use of robotic systems enhances process accuracy and speed, resulting in significant cost reductions and improved productivity compared to manual labor. This paper aims to design and develop an automated sorting system for various types of mechanical and electrical parts, utilizing image processing and machine vision algorithms with a Delta parallel robot equipped with a two-finger gripper. The target mechanical and electrical parts in this study are screws, nuts, metal washers, rubber washers, retaining rings, rectangular keys, wall plugs, resistors, potentiometers, capacitors, batteries, ICs, and LEDs. The YOLOv3 algorithm and Adaptive Thresholding method are employed to detect and distinguish objects from the background, and size measurement is achieved with the help of a custom marker with known dimensions. In this study, transfer learning based on pre-Trained weights of YOLOv3 for the COCO dataset is applied. The proposed system attains a final mean Average Precision (mAP@0.5) value exceeding 0.95 for part detection using YOLOv3. Additionally, it demonstrates an overall pick-And-place success rate exceeding 90%. © 2024 IEEE.

关键词： Grippers

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Sporadic Audio-Visual Embodied Assistive robot Navigation For Human Tracking 23

Sporadic Audio-Visual Embodied Assistive Robot Navigation Fo...

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16th ACM international conference on Pervasive Technologies Related to Assistive Environments (PETRA)

作者： Singh, Gaurav Ghanem, Paul Padir, Taskin Northeastern Univ Boston MA 02115 USA

ISBN: (纸本)9798400700699

Humans locate and track objects and other humans in their surroundings using audio, vision, or a combination of the two sensory modalities. A common strategy for humans searching for others in an indoor environment is to rely on a sound's Direction of Arrival (DoA), as well as their knowledge of whether a room was previously occupied. In this paper, a similar search behavior is implemented on a mobile robot for the purpose of tracking other humans. To produce this search behavior, we develop an algorithm that performs probabilistic inference of human presence in a specific map region using two sensory cues: DoA of sound and a vision-based estimate of human proximity. A key characteristic of this approach is that the robot can navigate towards a human irrespective of whether the sound signal is continuous, sporadic, or absent altogether. We deploy the proposed search behavior on a robot and evaluate its efficacy at finding a target person across multiple rooms, considering varying levels of human sound (e.g., calling out occasionally, once, or not at all). Our experimental findings indicate that while audio signals are not vital in localizing the target person, they greatly reduce the search time.

关键词： Audio-visual embodied navigation Assistive robotics Probabilistic inference Human search and tracking

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GMTR: GRAPH MATCHING TRANSFORMERS 49

GMTR: GRAPH MATCHING TRANSFORMERS

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2024 IEEE international conference on Acoustics, Speech, and signal processing, ICASSP 2024

作者： Guo, Jinpei Zhang, Shaofeng Wang, Runzhong Liu, Chang Yan, Junchi MOE Key Lab of Artificial Intelligence Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9798350344851

vision transformers (ViTs) have recently been used for visual matching. The original grid dividing strategy of ViTs neglects the spatial information of the keypoints, limiting the sensitivity to local information. We propose QueryTrans (Query Transformer), which adopts a cross-attention module and keypoints-based center crop strategy for better spatial information extraction. We further integrate the graph attention module and devise a transformer-based graph matching approach GMTR (Graph Matching TRansformers) whereby the combinatorial nature of GM is addressed by a graph transformer GM solver. On standard GM benchmarks, GMTR shows competitive performance against the SOTA frameworks. Specifically, on Pascal VOC, GMTR achieves 83.6% accuracy, 0.9% higher than the SOTA. On SPair-71k, GMTR shows great potential and outperforms most of the previous works. Meanwhile, on Pascal VOC, QueryTrans improves the accuracy of NGMv2 from 80.1% to 83.3%, and BBGM from 79.0% to 84.5%. On SPair-71k, it improves NGMv2 from 80.6% to 82.5%, and BBGM from 82.1% to 83.9%. Code is available at: https://***/jp-guo/gm-transformer. © 2024 IEEE.

关键词： graph matching vision transformers

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Revisiting misalignment in multispectral pedestrian detection: A language-driven approach for cross-modal alignment fusion 31

Revisiting misalignment in multispectral pedestrian detectio...

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31st IEEE international conference on Image processing Challenges and Workshops, ICIPCW 2024

作者： Kim, Taeheon Chung, Sangyun Yu, Youngjoon Ro, Yong Man KAIST Integrated Vision and Language Lab School of Electrical Engineering Korea Republic of

ISBN: (纸本)9798331515942

Multispectral pedestrian detection is a crucial component in various critical applications. However, a significant challenge arises due to the misalignment between these modalities, particularly under real-world conditions where data often appear heavily misaligned. Conventional methods developed on well-Aligned or minimally misaligned datasets fail to address these discrepancies adequately. This paper introduces a new framework for multispectral pedestrian detection designed specifically to handle heavily misaligned datasets without the need for costly and complex traditional pre-processing calibration. By leveraging Large-scale vision-Language Models (LVLM) for cross-modal semantic alignment, our approach seeks to enhance detection accuracy by aligning semantic information across the RGB and thermal domains. This method not only simplifies the operational requirements but also extends the practical usability of multispectral detection technologies in practical applications. © 2024 IEEE.

关键词： Semantics

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