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A versatile high-performance visual fiducial marker detection system with scalable identity encoding
2017
Proceedings of the Symposium on Applied Computing - SAC '17
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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
2013
International Journal of Advanced Robotic Systems
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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
2017
ACM SIGAPP Applied Computing Review
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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
2019
PLoS ONE
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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
2013
2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)
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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
2017
Robotics
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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
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Robotics 2017 ...
doi:10.3390/robotics6030018
fatcat:rtutdrwjlvb3zaybx4mbudxxb4
Towards Assistive Feeding with a General-Purpose Mobile Manipulator
[article]
2016
arXiv
pre-print
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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
2006
Robotics and Autonomous Systems
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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
2007
3-D Digital Imaging and Modeling
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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
2009
EURASIP Journal on Image and Video Processing
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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
2009
The Visual Computer
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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
2011
2011 IEEE International Conference on Robotics and Automation
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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]
2021
bioRxiv
pre-print
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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
2009
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
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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]
2018
arXiv
pre-print
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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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