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Stereo-based Multi-motion Visual Odometry for Mobile Robots [article]

Qing Zhao, Bin Luo, Yun Zhang
2019 arXiv   pre-print
In this letter, a stereo-based multi-motion visual odometry method is proposed to acquire the poses of the robot and other moving objects.  ...  With the development of computer vision, visual odometry is adopted by more and more mobile robots.  ...  of mobile robots, the motion segmentation in frame-by-frame mode is always unsatisfactory.  ... 
arXiv:1910.06607v1 fatcat:2ljr3egz2jgnxbnxtzxe6im3di

Combining PMD and Stereo camera for Motion Estimation of a Mobile Robot

C. Netramai, O. Melnychuk, C. Joochim, H. Roth
2008 IFAC Proceedings Volumes  
The combined setup was placed on a mobile robot and carried on the 6D motion estimation task using a provided artificial landmark.  ...  This work hence proposes a combination scheme for the PMD and stereo camera in order to improve the results of the motion estimation.  ...  Furthermore, we would grateful like to thank German Academic Exchange Service (DAAD) for providing financial support in the form of scholarship grants.  ... 
doi:10.3182/20080706-5-kr-1001.00913 fatcat:cn2pgtadcvaqzfp7avsdil37su

Global Map Generation and SLAM using LiDAR and Stereo Camera for tracking motion of Mobile Robot

Edwin Leonel Álvarez - Gutiérrez, Fabián Rolando Jiménez - López
2019 Iteckne  
The purpose of this article is to propose the integration between a caterpillar-type land mobile robot, SLAM tasks with LiDAR devices and the use of stereo vision through the ZED camera for the generation  ...  of a 2D global map and the tracking of the movement of the mobile robot using the MATLAB® software.  ...  Keywords-LiDAR, Global Map, motion tracking, SLAM, mobile robot, stereo vision.  ... 
doi:10.15332/iteckne.v16i2.2357 fatcat:d2chvjy4wjfgrd4vlfyukl4skq

Visibility Sensor with Stereo Infrared Light Sources for Mobile Robot Motion Estimation
주행 로봇 움직임 추정용 스테레오 적외선 조명 기반 Visibility 센서

Min-Young Lee, Soo-Yong Lee
2011 Journal of Institute of Control Robotics and Systems  
This paper describes a new sensor system for mobile robot motion estimation using stereo infrared light sources and a camera.  ...  Based on the recognized edges, the sector a robot belongs to is identified and this greatly reduces the search area for localization.  ...  Fig. 13 . 13 Forward and angular movements of the robot. 18 . 이미지에서 추출한 좌, 우측 edge의 L값 변화량. Fig. 18 . 18 Change of L values of two vertical edges in the image. 14 .  ... 
doi:10.5302/j.icros.2011.17.2.108 fatcat:yboetvy2wzdzlcfb66c76vdudy

A Simple Interface for Mobile Robot Equipped with Single Camera using Motion Stereo Vision

Stephen Karungaru, Atsushi Ishitani, Takuya Shiraishi, Minoru Fukumi
2012 International Journal of Machine Learning and Computing  
Index Terms-Robot interface, motion stereo, single camera.  ...  In this work, we develop a simple interface for mobile robots. In robot actions, movement of the robot itself is most important.  ...  In that case, motion stereo vision cannot reconstruct 3D position accurately. We consider that motion stereo vision is suitable for wheeled mobile robots, and use the method.  ... 
doi:10.7763/ijmlc.2012.v2.204 fatcat:xsxeeogwrnga3ki66j7pqwqjcq

Recognition of 3-D Object Shape and Forward Moving Distance by Monocular Motion Stereo for Mobile Robot

Yasuo Suga, Nobuhiro Ohmori
1998 IAPR International Workshop on Machine Vision Applications  
Irr onkr to rei-o,qnize the position, shqe mrcl dime~tsiotr of the ol>.stncctiot~, n visitd setrsing svstem qplied monocrtlar tnotion stereo wm cartstnrc'ted m cor eye of the autonomous mobile robot.  ...  As n vision sv.rtetn of cuctotrotrrorts mobile robot IVII~CII moves dotrg a pipe and carries out pipe works, srrclr m ~veldtrg, rron&.stn~c?  ...  Mobile Robot System Monocular Motion Stereo Vision Figure 2 shows an schematic illustration of the mobile robot and CCD camem which can move in lateral drection to realize the monocular motion stereo  ... 
dblp:conf/mva/SugaO98 fatcat:z2yuoci465aajaccp3skvutijm

Recovering 3D-Shape from Motion Stereo under Non-Uniform Illumination - A Vision System for Mobile Robot Carring an Illumination Source -

Takafumi Hara, Tomoyuki Kudou, Eturo Yokoyama, Hidetoshi Miike, Atsushi Nomura
1996 IAPR International Workshop on Machine Vision Applications  
We also propose a new concept of vision system for mobile robot carrying an illumination source in the night.  ...  A reliable and precise estimation of optic flow is important for recovering 3D-shape in motion In actual scene analysis, however, the influence of non-ideal condition^^)'^) should be taken into account  ...  Acknowledgement The authors would like to express their heartfelt thanks to Mr.K.Nakajima for their stimulating discussion and encouragements.  ... 
dblp:conf/mva/HaraKYMN96 fatcat:dovvdyouj5g67ok6m5haafomlu

3D environment measurement using binocular stereo and motion stereo by mobile robot with omnidirectional stereo camera

Shinichi Goto, Atsushi Yamashita, Ryosuke Kawanishi, Toru Kaneko, Hajime Asama
2011 2011 IEEE International Conference on Computer Vision Workshops (ICCV Workshops)  
In this paper, we aim to improve measurement accuracy by integrating binocular stereo and motion stereo using two omnidirectional cameras installed on a mobile robot.  ...  There are binocular stereo and motion stereo in traditional methods for measurement by omnidirectional camera. However, each method has advantages and disadvantages.  ...  Acknowledgements This work was in part supported by MEXT KAKENHI, Grant-in-Aid for Young Scientist (A), 22680017.  ... 
doi:10.1109/iccvw.2011.6130256 dblp:conf/iccvw/GotoYKKA11 fatcat:jtpm45ogirak5oi6tu76pvbnhu

Stereo-based visual navigation of mobile robots in unknown environments

H. Soltani, H. D. Taghirad, A.R. Norouzzadeh Ravari
2012 20th Iranian Conference on Electrical Engineering (ICEE2012)  
In this paper a stereo vision-based algorithm for mobile robots navigation and exploration in unknown outdoor environments is proposed.  ...  The algorithm is solely based on stereo images and implemented on a nonholonomic mobile robot.  ...  In this paper, we propose an algorithm for visual navigation of mobile robots in unknown outdoor environments based on stereo vision and visual odometry.  ... 
doi:10.1109/iraniancee.2012.6292489 fatcat:fz5b3mq34jb3jea7qfgl6ovlpy

Hybrid Kalman Filter/Fuzzy Logic based Position Control of Autonomous Mobile Robot

Rerngwut Choomuang, Nitin Afzulpurkar
2005 International Journal of Advanced Robotic Systems  
An obstacle avoidance algorithm utilizing stereo vision technique has been implemented for obstacle detection.  ...  The objective of this research is to improve the position and the orientation of robot motion.  ...  For the mobile robot navigation system, the motion control is importance for robot navigation.  ... 
doi:10.5772/5789 fatcat:w4zzw22vafesjhosqix3fqj4fm

Location-Based Tracking of Moving Obstacles from a Mobile Robot

Thatsaphan Suwannathat, Jun-ichi Imai, Masahide Kaneko
2007 IAPR International Workshop on Machine Vision Applications  
Tracking moving obstacles from a moving platform is a useful skill for the coming generation of mobile robot.  ...  Our system is able to detect the moving objects at 13 Hz for a 320×240 pixels stereo image sequence using a standard laptop computer.  ...  Experimental Results For the hardware used in the experiment is the Omni-directional mobile robot. We use the speeds of mobile robot at 25 cm/s to avoid wheel slippage and remove motion blur.  ... 
dblp:conf/mva/SuwannathatIK07 fatcat:3xxn4jslifentjaqmb2fp6ukna

Design of a Simultaneous Mobile Robot Localization and Spatial Context Recognition System [chapter]

Seungdo Jeong, Jonglyul Chung, Sanghoon Lee, Il Hong Suh, Byunguk Choi
2005 Lecture Notes in Computer Science  
In this work, we propose a simultaneous mobile robot localization and spatial context recognition system.  ...  The Harris corner detector and pyramid Lucas-Kanade optical flow are combined for robot localization.  ...  Acknowledgement This work is supported by the Intelligent Robotics Development Program, one of the 21st Century Frontier R&D Programs funded by the Korea Ministry of Commerce, Industry and Energy.  ... 
doi:10.1007/11553939_133 fatcat:v3fbidetcnbbpmkhsi7orxnoma

Mutual telexistence surrogate system: TELESAR4 - telexistence in real environments using autostereoscopic immersive display -

S. Tachi, K. Watanabe, K. Takeshita, K. Minamizawa, T. Yoshida, K. Sato
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
mobile robot with a robot arm and hand; an omnidirectional stereo camera system (VORTEX); a head with a retroreflective screen for embodiment of the remote participant; and a retroreflective projection  ...  system for local participants.  ...  Stereo images captured by the 360° stereo camera system VORTEX are fed to a computer (PC1) mounted on the mobile robot.  ... 
doi:10.1109/iros.2011.6094543 dblp:conf/iros/TachiWTMYS11 fatcat:z5sdhj3ph5c67nzgh2yak5x2sq

Intelligent Vision-based Navigation System for Mobile Robot: A Technological Review

Muhammad Hafidz Fazli Md Fauadi, Suriati Akmal, Mahasan Mat Ali, Nurul Izah Anuar, Samad Ramlan, Ahamad Zaki Mohd Noor, Nurfadzylah Awang
2018 Periodicals of Engineering and Natural Sciences (PEN)  
This article focuses on reviewing recent researches conducted on the intelligent vision-based navigation system for the mobile robot.  ...  One of the critical applications for vision system is to navigate mobile robot safely. In order to do so, several technological elements are required.  ...  Bhd and Fundamental Research Grant Scheme (FRGS) for financially support this work.  ... 
doi:10.21533/pen.v6i2.174 fatcat:l3rwgjhsf5g6dcc5yebl54ot6u

A MULTI-CAMERA VIEW DIRECTION PLANNING STRATEGY FOR MOBILE ROBOTS

TINGTING XU, KOLJA KÜHNLENZ, MARTIN BUSS
2008 International Journal of Information Acquisition  
A multi-camera view direction planning strategy for mobile robots is discussed.  ...  Two concurrent tasks for efficient and safe locomotion in dynamic environments are considered: self-localization and dynamic object tracking.  ...  ACKNOWLEDGMENTS This work is supported in part within the DFG excellence initiative research cluster Cognition for Technical Systems -CoTeSys, see also www.cotesys.org.  ... 
doi:10.1142/s0219878908001703 fatcat:wfht2cicxrdypac7t7krprg5ve
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