One of the main problems in robotic research is planning. Different approaches have been considered, ranging from global to local planning. In the authors' approach, the key idea is that of planning movements of r...
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One of the main problems in robotic research is planning. Different approaches have been considered, ranging from global to local planning. In the authors' approach, the key idea is that of planning movements of redundant robots, which involves both robotic and AI aspects. Pushing is used as a case study and sensorial feedback is considered in order to provide the planner with updated information on the dynamic evolution of the scene and to be able to deal with a priori unknown objects.< >
The estimation of time to impact is of vital importance for animals as well as for autonomous robots. The optical flow is used to estimate the time to impact. The authors demonstrate that the motion equations that rel...
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The estimation of time to impact is of vital importance for animals as well as for autonomous robots. The optical flow is used to estimate the time to impact. The authors demonstrate that the motion equations that relate the egomotion and/or the motion of the objects in the scene to the optical flow are considerably simplified if the velocity is represented in a polar or log-polar coordinate system, as opposed to a Cartesian representation. In the former case, the time-to-impact can be directly computed from the velocity field and its derivatives. The analysis takes place considering a tracking egomotion, but is then generalized to arbitrary sensor and object motion. The main result stems from the abundance of equations that can be written directly relating the optical flow, represented in a polar or log-polar coordinate system, with the time-to-impact. Experiments performed on images acquired from real scenes are presented.< >
The paper summarizes the current work of the DIST-University of Genoa in the field of mobile robotic control. In particular the authors describe the implementation of a multilevel architecture for navigation, based on...
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The paper summarizes the current work of the DIST-University of Genoa in the field of mobile robotic control. In particular the authors describe the implementation of a multilevel architecture for navigation, based on a stereo vision system, which allows obstacle avoidance, detection of free corridors and low level planning by means of few known landmarks such as color spots or vertical edges. Each level is, in principle, independent from the others. Appropriate motor actions are carried out combining the parallel behavior of the different levels.< >
A cooperative schema is proposed in which binocular disparity, computed on several stereo images over time, is combined with optical flow from the same sequence to obtain a relative-depth map of the scene. Both time-t...
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A cooperative schema is proposed in which binocular disparity, computed on several stereo images over time, is combined with optical flow from the same sequence to obtain a relative-depth map of the scene. Both time-to-impact and depth scaled by the distance of the camera from the fixation point in space are considered as good, relative measurements which are based on the viewer (but centered on the environment). Two experiments, performed on image sequences from real scenes, are presented.< >
Clouds LISP distributed environments (CLIDE) is a distributed, persistent object-based symbolic programming system being implemented on the Clouds distributed operating system. LISP environment instances are stored as...
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Clouds LISP distributed environments (CLIDE) is a distributed, persistent object-based symbolic programming system being implemented on the Clouds distributed operating system. LISP environment instances are stored as large-grained persistent objects, enabling users on many machines to share the contents of these environments through interenvironment evaluations. CLIDE provides a comprehensive research environment for distributed symbolic language, invocation and consistency semantics, and an implementation vehicle for the construction of the symbolic processing portions of complex megaprogrammed systems.< >
The application of an anthropomorphic, retina-like visual sensor for optical flow and depth estimation is presented. The main advantage, obtained with the non-uniform sampling, is considerable data reduction, while a ...
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The application of an anthropomorphic, retina-like visual sensor for optical flow and depth estimation is presented. The main advantage, obtained with the non-uniform sampling, is considerable data reduction, while a high spatial resolution is preserved in the part of the field of view corresponding to the focus of attention. As for depth estimation, a tracking egomotion strategy is adopted which greatly simplifies the motion equations, and naturally fits with the characteristics of the retinal sensor (the displacement is smaller wherever the image resolution is higher). A quantitative error analysis is carried out, determining the uncertainty of range measurements. An experiment, performed on a real image sequence, is presented.
”All animals are equal, but some animals are more equal than others”, Antrum Farm, George Orwell. Object Orientation is a current hot theme for researchers and developers of distributedsystems. This paper reviews t...
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A vision system to operate in a greenhouse environment designed Tor tomato cultivation is presented. The signals sent by two PAL colour cameras are processed by a Graphic Workstation using a bit-slice microprocessor c...
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The distributedsystems group in Trinity have been concerned with fault tolerance for a number years and are now turning our attention to the topic with renewed interest (and urgency). Specifically we are concerned to...
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