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A versatile high-performance visual fiducial marker detection system with scalable identity encoding

Peter Lightbody, Tomáš Krajník, Marc Hanheide
2017 Proceedings of the Symposium on Applied Computing - SAC '17  
A key concept of our system is the separation of the detection and identification steps, where the first step is based on a computationally efficient circular marker detection, and the identification step  ...  is based on an open-ended 'Necklace code', which allows for a theoretically infinite number of individually identifiable markers.  ...  With our extension of the original system we now present a 6-DoF fiducial marker system.  ... 
doi:10.1145/3019612.3019709 dblp:conf/sac/LightbodyKH17 fatcat:okopb5rmcjhxvfrkxkvkbz5wlm

Mixed Marker-Based/Marker-Less Visual Odometry System for Mobile Robots

Fabrizio Lamberti, Andrea Sanna, Gianluca Paravati, Paolo Montuschi, Valentina Gatteschi, Claudio Demartini
2013 International Journal of Advanced Robotic Systems  
Mixed marker-based/marker-less visual odometry system for mobile robots / Lamberti F.; Sanna A.; Paravati G.; Montuschi P.; Gatteschi V.; Demartini C.  ...  This paper proposes a solution to alleviate the impact of the above issues by combining two vision-based pose estimation techniques working on relative and absolute coordinate systems, respectively.  ...  Acknowledgments The authors wish to thank Andrea Faccio and Francesco Cosentino for the integration effort provided during the implementation of the overall system.  ... 
doi:10.5772/56577 fatcat:nbtfset6ybht3hrjzh22owuezm

An efficient visual fiducial localisation system

Peter Lightbody, Tomáš Krajník, Marc Hanheide
2017 ACM SIGAPP Applied Computing Review  
We propose a new family of circular markers which allow for both computationally efficient detection, tracking and identification and full 6D position estimation.  ...  In addition, the entire system is available as an open-source package at https://github.com/LCAS/whycon.  ...  With our extension of the original system we now present a 6-DoF fiducial marker system.  ... 
doi:10.1145/3161534.3161537 fatcat:ld5vzir7ejcfznt7z7nbrmqc7a

A system for bedside assistance that integrates a robotic bed and a mobile manipulator

Ariel S. Kapusta, Phillip M. Grice, Henry M. Clever, Yash Chitalia, Daehyung Park, Charles C. Kemp, Stefano Federici
2019 PLoS ONE  
We present a robotic system for bedside assistance that consists of a robotic bed and a mobile manipulator (i.e., a wheeled robot with arms) that work together to provide better assistance.  ...  We also evaluated our system with Henry Evans, a person with severe quadriplegia, in his home.  ...  Offline, for each task, TOC jointly optimizes one or two 6-DoF system configurations, each of which consists of a 4-DoF configuration for the PR2 (X-Y base position, base orientation, and Z-axis height  ... 
doi:10.1371/journal.pone.0221854 pmid:31618205 pmcid:PMC6795421 fatcat:x2liyp7k3fffxonp6xve4dfkiu

Manipulation planning using model-based belief dynamics

Shiraj Sen, Roderic Grupen
2013 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)  
A motor unit consists of  ...  The representation utilizes a uniform, domain-general description of state that applies to a wide variety of tasks.  ...  ACKNOWLEDGMENTS This material is based upon work supported under Grants NASA-GCT-NNH11ZUA001K and ONR-MURI-N000140710749.  ... 
doi:10.1109/humanoids.2013.7030006 dblp:conf/humanoids/SenG13 fatcat:vdqien72jfdnpo5dgyxbmelh2i

Application of Augmented Reality and Robotic Technology in Broadcasting: A Survey

Dingtian Yan, Huosheng Hu
2017 Robotics  
Recently, advanced robotic technologies have been deployed in a camera shooting system to create a robotic cameraman so that the performance of AR broadcasting could be further improved, which is highlighted  ...  In addition, AR enables broadcasters to interact with augmented virtual 3D models on a broadcasting scene in order to enhance the performance of broadcasting.  ...  3/6 DOF 3/6 DOF 3/6 DOF 3 DOF 6 DOF 6 DOF 6 DOF 6 DOF 6 DOF FOV High High High High Low High High Low High Price Low Low High Low High Low Low High Low Robotics 2017  ... 
doi:10.3390/robotics6030018 fatcat:rtutdrwjlvb3zaybx4mbudxxb4

Towards Assistive Feeding with a General-Purpose Mobile Manipulator [article]

Daehyung Park, You Keun Kim, Zackory M. Erickson, Charles C. Kemp
2016 arXiv   pre-print
We present a proof-of-concept robotic system for assistive feeding that consists of a Willow Garage PR2, a high-level web-based interface, and specialized autonomous behaviors for scooping and feeding  ...  In an offline evaluation using data collected with the feeding system, a new version of our multimodal anomaly detection system outperformed prior versions.  ...  Fig. 4 : 4 Left: The bowl for yogurt with an attached handle and ARTag. The PR2 can grip the handle and hold the bowl. Fig. 5 :Fig. 6 : 56 Left: The web-based GUI as described in Sec. IV-C.  ... 
arXiv:1605.07996v1 fatcat:xwddbfddivbjzebmlx4f6kmeq4

Simultaneous planning, localization, and mapping in a camera sensor network

Ioannis Rekleitis, David Meger, Gregory Dudek
2006 Robotics and Autonomous Systems  
In this paper we examine issues of localization, exploration, and planning in the context of a hybrid robot/camera-network system.  ...  To solve this hybrid localization problem, we divide it into a local problem of camera-parameter estimation combined with a global planning and navigation problem.  ...  Mark Fiala for his very helpful suggestions and for making his ARTag libraries free for research use.  ... 
doi:10.1016/j.robot.2006.05.009 fatcat:qca4h4uxrba3dl75aimntcvttu

Interactive Scanning of Haptic Textures and Surface Compliance

Sheldon Andrews, Jochen Lang
2007 3-D Digital Imaging and Modeling  
Our system utilizes a low-cost mobile touch probe and image-based tracking to allow an operator to interactively scan a real-world object and generate estimates of surface texture and compliance.  ...  In this paper, we introduce a hand-held scanning approach for the acquisition of physical surface texture (roughness) of realworld 3D objects.  ...  Haptic Rendering We implemented a C++ haptic rendering application on a 2.2GHz Pentium PC with an attached Phantom TM Omni, a device capable of 6 DOF input and 3 DOF force display.  ... 
doi:10.1109/3dim.2007.30 dblp:conf/3dim/AndrewsL07 fatcat:fhfumyq3ovanba5yzbajcqvcka

Model-Based Hand Tracking by Chamfer Distance and Adaptive Color Learning Using Particle Filter

Chutisant Kerdvibulvech, Hideo Saito
2009 EURASIP Journal on Image and Video Processing  
We propose a new model-based hand tracking method for recovering of three-dimensional hand motion from an image sequence. We first build a three-dimensional hand model using truncated quadrics.  ...  The degrees of freedom (DOF) for each joint correspond to the DOF of a real hand. This feature extraction is performed by using the Chamfer Distance function for the edge likelihood.  ...  Acknowledgments This work is supported in part by a Grant-in-Aid for the Global Center of Excellence for High-Level Global Cooperation for Leading-Edge Platform on Access Spaces from the Ministry of Education  ... 
doi:10.1155/2009/724947 fatcat:su6dxe7jifbtddcvbdj7k5cft4

Multimodal augmented reality tangible gaming

Fotis Liarokapis, Louis Macan, Gary Malone, Genaro Rebolledo-Mendez, Sara de Freitas
2009 The Visual Computer  
Based on these results, an augmented reality pile game was implemented with goal of completing a circuit of pipes (from a starting point to an end point on a grid).  ...  This paper presents tangible augmented reality gaming environment that can be used to enhance entertainment using a multimodal tracking interface.  ...  In the current system, interaction is performed using a pinch glove, a six DOF tracker and Wiimote (2 DOF).  ... 
doi:10.1007/s00371-009-0388-3 fatcat:fcuvhsalvncklc7jeuvywzmop4

AprilTag: A robust and flexible visual fiducial system

Edwin Olson
2011 2011 IEEE International Conference on Robotics and Automation  
We describe a new visual fiducial system that uses a 2D bar code style "tag", allowing full 6 DOF localization of features from a single image.  ...  While similar in concept to the ARTag system, our method is fully open and the algorithms are documented in detail.  ...  PREVIOUS WORK ARToolkit [11] was among the first tag tracking systems, and was targeted at artificial reality applications.  ... 
doi:10.1109/icra.2011.5979561 dblp:conf/icra/Olson11 fatcat:6lkufv4beza35dhppnjttkdsqi

Wide-Angle, Monocular Head Tracking using Passive Markers [article]

Balazs P Vagvolgyi, Ravikrishnan P Jayakumar, Manu S Madhav, James J Knierim, Noah Cowan
2021 bioRxiv   pre-print
We present an open-source, marker-based system for tracking the head of a rodent for behavioral research that requires only a single camera with a potentially wide field of view.  ...  Most systems, both markerless (e.g. deep learning based) and marker-based, require multiple cameras to track features across multiple points of view to enable such 3D reconstruction.  ...  Leonard, for assistance with developing and testing the head tracking system.  ... 
doi:10.1101/2021.09.01.458583 fatcat:l37luth3xbawtg4ltvb5dhtlie

Mobile robotic dynamic tracking for assembly tasks

Bradley Hamner, Seth Koterba, Jane Shi, Reid Simmons, Sanjiv Singh
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We have also studied the tracking performance of a mobile base using the pure pursuit algorithm with low pass filtering.  ...  We have investigated two tracking methods, one using a laser scanner and the other using a visual fiducial marker.  ...  Our mobile manipulator consists of a PowerBot mobile base with a 7-DOF WAM arm, a Bumblebee stereo camera mounted on a pan-tilt unit, and a SICK laser scanner.  ... 
doi:10.1109/iros.2009.5354237 dblp:conf/iros/HamnerKSSS09 fatcat:nycn2vnogfaydemf6bcc3aquo4

Self-Calibration of Mobile Manipulator Kinematic and Sensor Extrinsic Parameters Through Contact-Based Interaction [article]

Oliver Limoyo, Trevor Ablett, Filip Marić, Luke Volpatti and Jonathan Kelly
2018 arXiv   pre-print
Our method, based on point cloud registration, is applied to estimate the extrinsic transform between a fixed vision sensor mounted on a mobile base and an end effector.  ...  We present a novel approach for mobile manipulator self-calibration using contact information.  ...  Vicon markers were used to track the position of the EE and the positions of the ARTags (both in the Vicon system reference frame).  ... 
arXiv:1803.06406v2 fatcat:et5wpxzf3fbu7lenvgsozcgoq4
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