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A quadrotor Micro Aerial Vehicle (MAV) is designed to navigate a track using neural network approach to identify the direction of the path from a stream of monocular images received from a downward-facing camera mounted on the vehicle. Current autonomous MAVs mainly employ computer vision techniques based on image processing and feature tracking for vision-based navigation tasks. It requires expensive...
This paper describes the solution of the problem of detecting the area of a roadway in the image with the purpose of determining the lateral deviation of the vehicle as regard to the lane-line of the road, as well as proving the fact that the vehicle is on the road.
On-going progressions of Information Technology increase the scope for computer vision-based interventions to facilitate efficient and promising technology for people with disabilities. This project aims to develop a wearable navigational assistive device, titled EyeVista, to facilitate visually impaired sprint athletes. It is a lightweight, easy-to-use, customizable and low-cost wearable jacket built-in...
This paper makes research on two schemes of autonomous vision-based absolute navigation for Unmanned Aerial Vehicle (UAV): the Imaging Position of Landmark/Altimeter/IMU (IPLAI) based navigation, and the Imaging Position of Landmark/Optical Flow/Altimeter/IMU (IPLOFAI) based navigation. Firstly, the models of two autonomous vision-based absolute navigation systems are established. Secondly, the observability...
Motivated by the emerging needs to improve the quality of life for the elderly and disabled individuals who rely on wheelchairs for mobility, and who might have limited or no hand functionality at all, we propose an egocentric computer vision based co-robot wheelchair to enhance their mobility without hand usage. The co-robot wheelchair is built upon a typical commercial power wheelchair. The user...
This paper describes the acquisition of a collection of representative image datasets for use in the development of autonomous planetary descent and landing navigation systems. These datasets were recently obtained using the VISILAB test-bench at ESA-ESTEC in The Netherlands, and represent realistic powered descent trajectories over a Lunar-type surface, but can also be relevant to a wide range of...
This paper describes a voice navigational system for the visually impaired which runs on the user's smart-phone as an application and requires no additional expensive or heavy hardware. This system requires just the live video stream from the user's phone camera and an internet connection, and hence can be used on the most basic of smart-phones. The system proposed here identifies obstacles in front...
Visual impairment or vision loss is the main reason for reduced mobility in humans. Visually Impaired (VI) people require continuous assistance during their movement. Researchers and scientists have put many solutions to assist those people in the activities of their daily living (ADL). The current research delivers a novel indoor navigation system for visually impaired people. The proposed solution...
Computer vision is the area of imitation of biological vision system using computer algorithms and technologies. One of the main usages of this innovative technology is for navigation. Some of the cardinal and challenging parts in navigation are recognition of safe routes and distinguishing them from obstacles. In this paper an innovative algorithm is described and developed for this purpose. This...
In this paper, we propose a monocular vision system for autonomous obstacle avoidance and simultaneous stabilization of dynamic bipedal walking using the Aldebaran Nao robot. In particular, we address the case where erroneous bipedal locomotion causes the robot to drift away from a planned trajectory over time. To eliminate drifting, we use hybrid control patterns. This results in an efficient, self-correcting...
Autonomous path-following robots that use vision-based navigation are appealing for a wide variety of tedious and dangerous applications. However, a reliance on matching point-based visual features often renders vision-based navigation unreliable over extended periods of time in unstructured, outdoor environments. Specifically, scene change caused by lighting, weather, and seasonal variation lead...
This paper introduces the 5* Magic Wand: a user interface that provides an inexpensive way for input of 3D data. Drawing upon the metaphor of the "wizard", a user can point to places, perform gestures and cast "spells" to interact with the computer. We describe a computer vision technique that tracks the wand with 5 degrees of freedom. A prototype implementation, composed of a...
An effective and accurate navigation for rescue robots in some human inaccessible sites is very necessary. This paper proposes a method of vision-based navigation with high accuracy and real-time capability. Firstly, the system overview and the experimental platform are presented. Then an image processing algorithm using classic theories, which resulted in less calculated amount, is introduced to...
Use of computer vision on Unmanned Aerial Vehicles (UAV) has been a promising area of research given its potential applications in exploration, surveillance and security. Localization in indoor, unknown environments can become increasingly difficult due to irregularities or complete absence of GPS. Advent of small, light and high performance cameras and computing hardware has enabled design of autonomous...
The visually impaired people lack visual information to realize the obstructions and obstacles in their path thus making it difficult for them to perform their day-to-day tasks comfortably and efficiently. Digital assistance techniques have proven to be a boon for these visually challenged sections of the society. Detection of an obstacle free-path for an easier and smooth navigation of visually impaired...
This paper presents the criteria for classification of the existing techniques for the development of navigation aid for the visually impaired people. Digital assistance for the visually impaired people to navigate easily even during the presence of static and moving obstacles has been a food for research over the years. The motivation for the current work is the development of a smart hearing aid...
In this paper an efficient crop row detection method is proposed for vision-based navigation for agriculture robots. In the proposed method, no low level features (such as edges and middle lines of the images) are needed. So the complex algorithms for edging and matching (e.g. the Hough transform) are avoided, which greatly saves the computation loads. Instead, a flexible quadrangle is defined to...
Robustness and efficiency of indoor navigation at high rates is crucial for aerial vehicle to perform maneuvering action and fast exploration. In recent years, optical flow sensors have shown its effectiveness on indoor navigation of mobile robot. However the fatal problem of optical flow's drifting can only be solved by building a map using SLAM (Simultaneously Localization and Mapping), which would...
To realize autonomous navigation with a regular camera in an unknown environment, there are mainly two types of approaches: SfM and monocular SLAM. They both have advantages and disadvantages. SfM is slow and cannot eliminate outliers, but it is able to provide 3D information from a series of images without any additional information. Monocular SLAM can hardly work unless the initial value is close...
In this paper, a motion estimation approach is introduced for a vision-aided inertial navigation system. The system consists of a ground-facing monocular camera mounted on an inertial measurement unit (IMU) to form an IMU-camera sensor fusion system. The motion estimation procedure fuses inertial data from the IMU and planar features on the ground captured by the camera. The main contribution of this...
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