检索结果-内蒙古大学图书馆

2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016

作者： Sanchez-Lopez, Jose Luis Fernandez, Ramon A. Suarez Bavle, Hriday Sampedro, Carlos Molina, Martin Pestana, Jesus Campoy, Pascual Computer Vision Group Centre for Automation and Robotics CSIC UPM Spain Department of Artificial Intelligence Technical University of Madrid UPM Spain

ISBN: (纸本)9781467393331

To simplify the usage of the Unmanned Aerial Systems (UAS), extending their use to a great number of applications, fully autonomous operation is needed. There are many open-source architecture frameworks for UAS that claim the autonomous operation of UAS, but they still have two main open issues: (1) level of autonomy, being in most of the cases limited and (2) versatility, being most of them designed specifically for some applications or aerial platforms. As a response to these needs and issues, this paper presents Aerostack, a system architecture and open-source multi-purpose software framework for autonomous multi-UAS operation. To provide higher degrees of autonomy, Aerostack's system architecture integrates state of the art concepts of intelligent, cognitive and social robotics, based on five layers: reactive, executive, deliberative, reflective, and social. To be a highly versatile practical solution, Aerostack's open-source software framework includes the main components to execute the architecture for fully autonomous missions of swarms of UAS;a collection of ready-to-use and flight proven modular components that can be reused by the users and developers;and compatibility with five well known aerial platforms, as well as a high number of sensors. Aerostack has been validated during three years by its successful use on many research projects, international competitions and exhibitions. To corroborate this fact, this paper also presents Aerostack carrying out a fictional fully autonomous indoors search and rescue mission. © 2016 IEEE.

关键词： Open source software

来源：评论

学校读者我要写书评

暂无评论

iCLAP: Shape recognition by combining proprioception and touch sensing

arXiv

引用

arXiv 2018年

作者： Luo, Shan Mou, Wenxuan Althoefer, Kaspar Liu, Hongbin Center for Robotics Research Department of Informatics King's College London LondonWC2R 2LS United Kingdom Department of Computer Science University of Liverpool LiverpoolL69 3BX United Kingdom Multimedia and Vision Research Group School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom School of Engineering and Materials Science Queen Mary University of London LondonE1 4NS United Kingdom

For humans, both the proprioception and touch sensing are highly utilized when performing haptic perception. However, most approaches in robotics use only either proprioceptive data or touch data in haptic object recognition. In this paper, we present a novel method named Iterative Closest Labeled Point (iCLAP) to link the kinesthetic cues and tactile patterns fundamentally and also introduce its extensions to recognize object shapes. In the training phase, the iCLAP first clusters the features of tactile readings into a codebook and assigns these features with distinct label numbers. A 4D point cloud of the object is then formed by taking the label numbers of the tactile features as an additional dimension to the 3D sensor positions;hence, the two sensing modalities are merged to achieve a synthesized perception of the touched object. Furthermore, we developed and validated hybrid fusion strategies, product based and weighted sum based, to combine decisions obtained from iCLAP and single sensing modalities. Extensive experimentation demonstrates a dramatic improvement of object recognition using the proposed methods and it shows great potential to enhance robot perception ability. Copyright © 2018, The Authors. All rights reserved.

关键词： Object recognition

来源：评论

学校读者我要写书评

暂无评论

Effectiveness of socially assistive robotics during cognitive stimulation interventions: Impact on caregivers

Effectiveness of socially assistive robotics during cognitiv...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Jainendra Shukla Miguel Barreda-Ángeles Joan Oliver Domènec Puig Intelligent Robotics and Computer Vision Group (IRCV) Rovira i Virgili University Tarragona Spain Instituto de Robótica para la Dependencia Sitges Barcelona Spain Eurecat Technology Centre of Catalonia Barcelona Spain

Execution of cognitive stimulation interventions for cognitive training of individuals in need represents significant burden on caregivers in time and labor costs. Recent advancements in Socially Assistive robotics (SAR) research can be exploited to reduce caregivers burden by work sharing with robots and supplementing/complementing human resources in execution of interventions. Current research evaluates the effectiveness of the SAR empowered cognitive training activity of Bingo Musical among thirty individuals with ID in multi-center trials. A multidimensional evaluation of caregivers workload was conducted; including subjective workload, time spent on users personalized interventions, and qualitative interviews with caregivers. The results of the research confirm a significant reduction in caregivers burden and raise a concern about the need of a specific training of the caregivers to take maximum advantage of SAR in health care.

关键词： Robot kinematics Radiofrequency identification Training Monitoring Rehabilitation robotics

来源：评论

学校读者我要写书评

暂无评论

Model-based underwater inspection via viewpoint planning using octomap

Model-based underwater inspection via viewpoint planning usi...

引用

OCEANS

作者： Bruno Locks Floriani Narcís Palomeras Lucas Weihmann Henrique Simas Pere Ridão Mechanical Engineering Department Federal University of Santa Catarina Santa Catarina Brazil Computer Vision and Robotics Group University of Girona Girona Spain Joinville Technological Centre Federal University of Santa Catarina Santa Catarina Brazil

ISBN: (纸本)9781509064298;9780692946909

During the last years, the underwater inspection of industrial assets, archaeological shipwrecks or geological/biological structures has become an area of interest. Nowadays, these inspections are done by divers or remotely operated vehicles (ROVs). This paper presents a preliminary solution for planning automatic underwater inspections for an autonomous underwater vehicle (AUV) assuming an a priori known environment. The proposed algorithm computes the viewpoints that an AUV has to reach in order to completely scan the region/structure of interest. Then, two optimization steps are taken into account: the number of viewpoints to cover the object and the order and path to reach them. Despite the algorithm uses a brute force approach, the utilization of octree based structures to represent the environment allows to obtain satisfactory results in a short time. The proposed method is evaluated in simulation using Gazebo and the Girona 500 AUV.

关键词： Planning Three-dimensional displays Inspection Electronic mail Octrees Two dimensional displays Boats

来源：评论

学校读者我要写书评

暂无评论

Global alignment of a multiple-robot photomosaic using opto-acoustic constraints

引用

IFAC-PapersOnLine 2015年第2期28卷 20-25页

作者： Campos, Ricard Gracias, Nuno Palomer, Albert Ridao, Pere Computer Vision and Robotics Group University of Girona Spain

Distributing the mapping problem over several vehicles provides the ability to survey an area in fewer time than with a single one. However, the communications required to maintain the vehicles in formation underwater are highly complex. We present a global alignment method for multi-AUV trajectory optimization. We take advantage of the acoustic messages passed between vehicles as well as of the further constraints posed by optical matches between images in some of the vehicles in the formation, both within a single robot and from different ones. By merging all these constraints, we can obtain both an optical georeferenced mosaic of the surveyed area and a joint optimization of the poses of the vehicles in the formation at each time. We present and discuss an application of the method on a real dataset collected within the MORPH EU-FP7 project. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Vehicle to vehicle communications computer vision Mapping Navigation Robots Surveys Vehicles Cooperative navigations Optical mapping Relative localization Robot navigation Underwater vehicles

来源：评论

学校读者我要写书评

暂无评论

LAPLACIAN-GUIDED IMAGE DECOLORIZATION

LAPLACIAN-GUIDED IMAGE DECOLORIZATION

引用

IEEE International Conference on Image Processing

作者： Cosmin Ancuti Codruta O. Ancuti ICTEAM Universite Catholique de Louvain Computer Vision and Robotics Group University of Girona

ISBN: (纸本)9781467399623

In this paper we introduce a novel decolorization strategy built on image fusion principles. Decolorization (color-to-grayscale), is an important transformation used in many monochrome image processing applications. We demonstrate that aside from color spatial distribution, local information plays an important role in maintaining the discriminability of the image conversion. Our strategy blends the three color channels R,G,B guided by two weight maps that filter the local transitions and measure the dominant values of the regions using the Laplacian information. In order to minimize artifacts introduced by the weight maps, our fusion approach is designed in a multi-scale fashion, using a Laplacian pyramid decomposition. Additionally, compared with most of the existing techniques our straightforward technique has the advantage to be computationally effective. We demonstrate that our technique is temporal coherent being suitable to decolorize videos. A comprehensive qualitative and also quantitative evaluation based on an objective visual descriptor demonstrates the utility of our decolorization technique.

关键词： DECOLORIZATION images red-green-blue colour model Quantitative Evaluation Laplacian pyramid

来源：评论

学校读者我要写书评

暂无评论

AEROSTACK: An architecture and open-source software framework for aerial robotics

AEROSTACK: An architecture and open-source software framewor...

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Jose Luis Sanchez-Lopez Ramón A. Suárez Fernández Hriday Bavle Carlos Sampedro Martin Molina Jesus Pestana Pascual Campoy Consejo Superior de Investigaciones Cientificas Madrid Madrid ES Computer Vision Group Centre for Automation and Robotics CSIC - UPM Madrid Madrid ES Computer Vision Group Centre for Automation and Robotics CSIC - UPM Spain Technical University of Madrid (UPM) Spain Computer Vision Group CSIC-UPM Spain

ISBN: (纸本)9781467393355

To simplify the usage of the Unmanned Aerial Systems (UAS), extending their use to a great number of applications, fully autonomous operation is needed. There are many open-source architecture frameworks for UAS that claim the autonomous operation of UAS, but they still have two main open issues: (1) level of autonomy, being in most of the cases limited and (2) versatility, being most of them designed specifically for some applications or aerial platforms. As a response to these needs and issues, this paper presents Aerostack, a system architecture and open-source multi-purpose software framework for autonomous multi-UAS operation. To provide higher degrees of autonomy, Aerostack's system architecture integrates state of the art concepts of intelligent, cognitive and social robotics, based on five layers: reactive, executive, deliberative, reflective, and social. To be a highly versatile practical solution, Aerostack's open-source software framework includes the main components to execute the architecture for fully autonomous missions of swarms of UAS; a collection of ready-to-use and flight proven modular components that can be reused by the users and developers; and compatibility with five well known aerial platforms, as well as a high number of sensors. Aerostack has been validated during three years by its successful use on many research projects, international competitions and exhibitions. To corroborate this fact, this paper also presents Aerostack carrying out a fictional fully autonomous indoors search and rescue mission.

关键词： computer architecture Feature extraction Software Hardware Robot sensing systems

来源：评论

学校读者我要写书评

暂无评论

Variational segmentation under variable illumination conditions

Variational segmentation under variable illumination conditi...

引用

International Symposium on Electronics in Marine (ELMAR)

作者： Codruta Orniana Ancuti Computer Vision and Robotics Group University of Girona Spain MEO Universitatea Politehnica Timisoara Romania

ISBN: (纸本)9781509017348

When illumination conditions vary significantly, the task of segmentation becomes more challenging since the existing ambiguities increase considerably. In this paper we introduce an illumination invariant framework that can be applied as a preprocessing step to obtain consistent segmentation when the lit conditions are substantially changed. We aim for an optimal luminance value that blends effectively the chromatic information with the initial luminance while the existing local features of the original lightness are enhanced. Practically, the local information is minimized by constraining the new lightness distribution with the chromatic contrast of the original image. We demonstrate the novel strategy for one of the main segmentation classes: variational PDE segmentation. Comprehensive qualitative and quantitative experiments prove the effectiveness and utility of the novel approach.

关键词： Image segmentation Lighting Image color analysis Level set computer vision Degradation

来源：评论

学校读者我要写书评

暂无评论

D-HAZY: A DATASET TO EVALUATE QUANTITATIVELY DEHAZING ALGORITHMS

D-HAZY: A DATASET TO EVALUATE QUANTITATIVELY DEHAZING ALGORI...

引用

IEEE International Conference on Image Processing

作者： Cosmin Ancuti Codruta O. Ancuti Christophe De Vleeschouwer ICTEAM Universite Catholique de Louvain Belgium Computer Vision and Robotics Group University of Girona Spain

ISBN: (纸本)9781467399623

Dehazing is an image enhancing technique that emerged in the recent years. Despite of its importance there is no dataset to quantitatively evaluate such techniques. In this paper we introduce a dataset that contains 1400+ pairs of images with ground truth reference images and hazy images of the same scene. Since due to the variation of illumination conditions recording such images is not feasible, we built a dataset by synthesizing haze in real images of complex scenes. Our dataset, called D-HAZY, is built on the Middelbury [1] and NYU Depth [2] datasets that provide images of various scenes and their corresponding depth maps. Due to the fact that in a hazy medium the scene radiance is attenuated with the distance, based on the depth information and using the physical model of a hazy medium we are able to create a corresponding hazy scene with high fidelity. Finally, using D-HAZY dataset, we perform a comprehensive quantitative evaluation of several state of the art single-image dehazing techniques.

关键词： Atmospheric modeling Mathematical model Image color analysis Image restoration Computational modeling Observers Attenuation image colour analysis Dataset Atmospheric models image restoration technique Dehazing Computational modeling images Mathematical Model Observers Attenuation Attenuation state of the art

来源：评论

学校读者我要写书评

暂无评论

NIGHT-TIME DEHAZING BY FUSION

NIGHT-TIME DEHAZING BY FUSION

引用

IEEE International Conference on Image Processing

作者： Cosmin Ancuti Codruta O. Ancuti Christophe De Vleeschouwer Alan C. Bovik ICTEAM Universite Catholique de Louvain Computer Vision and Robotics Group University of Girona Department of Electrical and Computer Engineering The University of Texas at Austin

ISBN: (纸本)9781467399623

We introduce an effective technique to enhance night-time hazy scenes. Our technique builds on multi-scale fusion approach that use several inputs derived from the original image. Inspired by the dark-channel [1] we estimate night-time haze computing the airlight component on image patch and not on the entire image. We do this since under night-time conditions, the lighting generally arises from multiple artificial sources, and is thus intrinsically non-uniform. Selecting the size of the patches is non-trivial, since small patches are desirable to achieve fine spatial adaptation to the atmospheric light, this might also induce poor light estimates and reduced chance of capturing hazy pixels. For this reason, we deploy multiple patch sizes, each generating one input to a multiscale fusion process. Moreover, to reduce the glowing effect and emphasize the finest details, we derive a third input. For each input, a set of weight maps are derived so as to assign higher weights to regions of high contrast, high saliency and small saturation. Finally the derived inputs and the normalized weight maps are blended in a multi-scale fashion using a Laplacian pyramid decomposition. The experimental results demonstrate the effectiveness of our approach compared with recent techniques both in terms of computational efficiency and quality of the outputs.

关键词： Night-time Hazy Dehazing Multi-scale fusion Dehazing Fusion reactions FUSION fusion (melting) Fusion, biological image patch original image multi-scale Computational efficiency

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：