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Feature Optimization for Long-Range Visual Homing in Changing Environments

Qidan Zhu, Xue Liu, Chengtao Cai
2014 Sensors  
This paper introduces a feature optimization method for robot long-range feature-based visual homing in changing environments.  ...  The results indicate that the feature optimization method can find optimal feature sets for feature-based visual homing, and adapt the appearance representation to the changing environments as well.  ...  Foundation for Youths of HRB (NO.2013RFQXJ106).  ... 
doi:10.3390/s140203342 pmid:24556671 pmcid:PMC3958223 fatcat:wkc52j354ja6tgr4aof2b53swi

Robot Homing by Exploiting Panoramic Vision

Antonis A. Argyros, Kostas E. Bekris, Stelios C. Orphanoudakis, Lydia E. Kavraki
2005 Autonomous Robots  
In order to achieve long-range homing, the features' trajectories are organized in a visual memory during the execution of the "prior" path.  ...  The method assumes that the robot tracks visual features in panoramic views of the environment that it acquires as it moves.  ...  In Section 3 the construction and the employment of the visual memory for long-range homing are described.  ... 
doi:10.1007/s10514-005-0603-7 fatcat:dnszjmh52zgdfmiv6v4ob275v4

Illumination Tolerance for Visual Navigation with the Holistic Min-Warping Method

Ralf Möller, Michael Horst, David Fleer
2014 Robotics  
Holistic visual navigation methods are an emerging alternative to the ubiquitous feature-based methods.  ...  In this paper we investigate which pixel-wise distance measures are most suitable for the holistic min-warping method with respect to illumination invariance.  ...  Acknowledgements We are grateful to Andrew Vardy for his helpful comments on an earlier version of this manuscript.  ... 
doi:10.3390/robotics3010022 fatcat:6aemhablqzbavbkrxdzb3htsq4

A Taxonomy and Survey of IoT Cloud Applications

T. Pflanzner, A. Kertesz
2018 EAI Endorsed Transactions on Internet of Things  
Internet of Things (IoT) systems are realized by dynamic global network infrastructure with self-configuring capabilities, in which things can interact and communicate in the environment through the Internet  ...  We also compare current cloud providers supporting IoT capabilities and gather requirements for IoT device simulation to support further research on IoT application development.  ...  It also supports special features to interconnect other devices, e.g. if the baby temperature is not optimal a smart thermostat can change the room temperature, or if the baby is moving a webcam can be  ... 
doi:10.4108/eai.6-4-2018.154391 fatcat:aryiof6htndz3lqw6nxp5ieiwq

An Outline of Multi-Sensor Fusion Methods for Mobile Agents Indoor Navigation

Yuanhao Qu, Minghao Yang, Jiaqing Zhang, Wu Xie, Baohua Qiang, Jinlong Chen
2021 Sensors  
Indoor autonomous navigation refers to the perception and exploration abilities of mobile agents in unknown indoor environments with the help of various sensors.  ...  Finally, we discuss the possible technique trends of multi-sensor fusion methods, especially its technique challenges in practical navigation environments.  ...  It is capable of capturing the long-range dependencies within images, which has been difficult to model in traditional methods.  ... 
doi:10.3390/s21051605 pmid:33668886 pmcid:PMC7956205 fatcat:7twh225phbbupjd4fv2fw6twum

A Novel Robot Visual Homing Method Based on SIFT Features

Qidan Zhu, Chuanjia Liu, Chengtao Cai
2015 Sensors  
Warping is an effective visual homing method for robot local navigation.  ...  In order to solve the above problem and to get higher homing precision, a novel robot visual homing algorithm is proposed by combining SIFT (scale-invariant feature transform) features with the warping  ...  Author Contributions The work presented in this paper was accomplished in a concerted effort by all authors.  ... 
doi:10.3390/s151026063 pmid:26473880 pmcid:PMC4634498 fatcat:23zaqs7a2vh4jmkrrpzsdylyu4

Short and long-range visual navigation using warped panoramic images

Frédéric Labrosse
2007 Robotics and Autonomous Systems  
In this paper, we present a method that uses panoramic images to perform long-range navigation as a succession of short-range homing steps along a route specified by appearances of the environment of the  ...  Our method is different from others in that it does not extract any features from the images and only performs simple image processing operations.  ...  Acknowledgement The equipment used for this work was partly funded by HEFCW Science Research Investment Fund (SRIF) grants from 1999 (for the VICON system) and 2002 (for the research Lab and the robotic  ... 
doi:10.1016/j.robot.2007.05.004 fatcat:vycigo3nyjgi3aovepfu5lmuaq

Efficient Lévy walks in virtual human foraging

Ketika Garg, Christopher T Kello
2021 Scientific Reports  
We conducted a virtual foraging experiment set in the foothills of the Himalayas to examine how time and energy are expended to forage efficiently, and how foraging changes when constrained to a home range  ...  Despite this constancy, efficient home-range foraging trajectories were less diffusive by virtue of restricting locomotive search and spending more time instead scanning the environment to plan movement  ...  Acknowledgements We thank Amazon MTurk players who participated in this project.  ... 
doi:10.1038/s41598-021-84542-w pmid:33664346 pmcid:PMC7933158 fatcat:a4jtbivyzrhxhexmcxdym5lt44

Unsupervised Long-Term Routine Modelling Using Dynamic Bayesian Networks

Yangdi Xu, David Bull, Dima Damen
2017 2017 International Conference on Digital Image Computing: Techniques and Applications (DICTA)  
INTRODUCTION Research for elderly care assistance in smart home environments has become a popular research topic in recent years.  ...  [6] also modelled activities in a smart home environment.  ... 
doi:10.1109/dicta.2017.8227502 dblp:conf/dicta/XuBD17 fatcat:6doozo2slfeexcx7unl6pzovda

Landscape complexity influences route-memory formation in navigating pigeons

R. P. Mann, C. Armstrong, J. Meade, R. Freeman, D. Biro, T. Guilford
2014 Biology Letters  
Our results imply that pigeons process their visual environment on a characteristic spatial scale while navigating and can explain the different degrees of success in reproducing route learning in different  ...  Pigeons have also been observed to be particularly attracted to strong linear features in the landscape, such as roads and rivers.  ...  This poses the question of whether there is an optimal density of information in the landscape over which a bird is homing for the formation or processing of visual memories.  ... 
doi:10.1098/rsbl.2013.0885 pmid:24451267 pmcid:PMC3917332 fatcat:utc3wqlro5a4dg6sniwxp7j354

Linked Local Navigation for Visual Route Guidance

Lincoln Smith, Andrew Philippides, Paul Graham, Bart Baddeley, Philip Husbands
2007 Adaptive Behavior  
We implement this framework on a robotic platform and test it in a series of environments in which local navigation methods fail.  ...  The region from which agents can successfully reach home is therefore limited to the goal's visual locale, that is, the area around the goal where the visual scene is not radically different to the goal  ...  However, the LLN framework could be applied to any view-based correspondence homing method that parses visual input into distinct features.  ... 
doi:10.1177/1059712307082091 fatcat:dcc67ygzi5bkrjz75xtslep2p4

Face recognition with the use of tensor representation in home robot environments

Keun-Chang Kwak
2009 IEICE Electronics Express  
This paper is concerned with real-time incremental face recognition for home service robots.  ...  For this purpose, we use an Incremental Tensor Subspace Analysis (ITSA) to enroll and recognize the user's face through low-price robot camera when robot performs the real-time customized service in home  ...  Face recognition in robot environments should be considered at a long distance around 3 meters. Furthermore, home service robot should be considered a single lowprice camera for commercialization.  ... 
doi:10.1587/elex.6.187 fatcat:wdqm4cm5ovattemcgwthpybqsq

Robust real-time vision for a personal service robot

Gérard Medioni, Alexandre R.J. François, Matheen Siddiqui, Kwangsu Kim, Hosub Yoon
2007 Computer Vision and Image Understanding  
We address visual perception for personal service robotic systems in the home. We start by identifying the main functional modules and their relationships.  ...  This includes self-localization, long range people detection and tracking, and short range human interaction.  ...  Acknowledgments This work was conducted in the context of a collaborative project with the Electronics and Telecommunications Research Institute (ETRI), a Korean non-profit, government-funded research  ... 
doi:10.1016/j.cviu.2006.10.015 fatcat:pjrl33fqmnfkxj2opo2kwh3ms4

Inverse Reinforcement Learning with Multi-Relational Chains for Robot-Centered Smart Home [article]

Kun Li, Max Q.-H. Meng
2015 arXiv   pre-print
In a robot-centered smart home, the robot observes the home states with its own sensors, and then it can change certain object states according to an operator's commands for remote operations, or imitate  ...  To model the robot's imitation of the operator's behaviors in a dynamic indoor environment, we use multi-relational chains to describe the changes of environment states, and apply inverse reinforcement  ...  For long-term monitoring of hierarchical environment states, two models are closely related.  ... 
arXiv:1408.3727v5 fatcat:6wpqdgvf5bgjxjh24dtml44gzq

Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera [chapter]

Albert S. Huang, Abraham Bachrach, Peter Henry, Michael Krainin, Daniel Maturana, Dieter Fox, Nicholas Roy
2016 Springer Tracts in Advanced Robotics  
In this paper, we describe a system for visual odometry and mapping using an RGB-D camera, and its application to autonomous flight.  ...  By leveraging results from recent state-of-the-art algorithms and hardware, our system enables 3D flight in cluttered environments using only onboard sensor data.  ...  For increased visual consistency, Sparse Bundle Adjustment (SBA) [37] can be used to simultaneously optimize the poses and the locations of observed features.  ... 
doi:10.1007/978-3-319-29363-9_14 fatcat:rszxizbt2vh37oxjkdcz7hevbm
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