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Autonomous Indoor Vehicle (AIV) is used for various purposes so it can reduce human workload. This study aims to develop a corridor navigation system for AIV that utilizes vision-based multi point sensing. Multi-point sensing techniques on floor and corridor areas are used to detect obstacle-free areas and estimate the direction of AIV. Area detection and direction estimation are used as input information...
Over the last years, nanosatellites based on the CubeSat standard have been increasingly exploited by both academic institutions and commercial companies. The low cost and short development time of CubeSats make such miniature spacecraft interesting for a variety of applications. A particularly appealing future field of application for nanosatellites is On-Orbit Servicing of existing orbital assets...
In the last decade, monocular simultaneous localization and mapping (mono-SLAM) has appeared as another alternative for pose estimation, but this last gives a localization up to scale, and suffers from scale drift due to the difficulty of depth evaluation; however, several approaches had been tackled to recover the scale and take off the ambiguity. Both methods were designed to get the accurate scale...
This paper presents a very simple and efficient algorithm to estimate 1, 2 or 3 orthogonal vanishing point(s) on a calibrated image in Manhattan world. Unlike the traditional methods which apply 1, 3, 4, or 6 line(s) to generate vanishing point hypotheses, we propose to use 2 lines to get the first vanishing point v1, then uniformly take sample of the second vanishing point v2 on the great circle...
Micro Air Vehicles (MAVs) are becoming very popular at present time. They are lightweight, affordable and very flexible in terms of location. Thus, MAVs are predestined for rescue missions. They are able to explore areas that are difficult to access. Nonetheless, these rescue missions are very complex. They require a reliable autonomous operation system even in GNSS-denied areas. In order to assure...
This paper proposes an approach that predicts the road course from camera sensors lever-aging deep learning techniques. Road pixels are identified by training a multi-scale convolutional neural network on a large number of full-scene-labeled night-time road images including adverse weather conditions. A framework is presented that applies the proposed approach to longer distance road course estimation,...
Given the trend of more complex tasks that robots should perform, we need to design increasingly robust solutions to perform tasks more efficiently and above all, real-time calculations. One of the most important tasks of a mobile robot is navigating through a room avoiding obstacles with which it may collide. Our contribution is to show how to compute efficiently time-to-contact for avoiding collisions...
More and more pedestrians own devices (as a smartphone) that integrate a wide array of low-cost sensors (camera, IMU, magnetometer and GNSS receiver). GNSS is usually used for pedestrian localization in urban environment, but signal suffers of an inaccuracy of several meters. In order to have a more accurate localization and improve pedestrian navigation and urban mobility, we present a method for...
In recent years, the demand of immersive experience has triggered a great revolution in the applications and formats of multimedia. Particularly, immersive navigation of free viewpoint sports video has become increasingly popular, and people would like to be able to actively select different viewpoints when watching sports videos to enhance the ultra realistic experience. In the practical realization...
The paper presents the concept of a practical free-viewpoint television system with purely optical depth estimation. The system consists of camera modules that contain pairs or triples of cameras together with the respective microphones. The camera modules can be sparsely located in arbitrary positions around a scene. Each camera module is equivalent to a video camera with a depth sensor and microphones...
With the rapid development and reduced cost of digital video capturing devices, driving video recorders (DVRs) begin to gain widespread popularity. What is seen and what happens along the way can thus be recorded in videos. However, searching for a specific scene or event among such massive video collections is laborious and tedious. In this paper, we develop a speed-adaptive street view image generation...
An estimation framework is presented that improves the robustness of GPS-denied state estimation to changing environmental conditions by fusing updates from multiple view-based odometry algorithms. This allows the vehicle to utilize a suite of complementary exteroceptive sensors or sensing modalities. By estimating the vehicle states relative to a local coordinate frame collocated with an odometry...
The objective of this project is to set up wireless communication for Unmanned Aerial Vehicles (UAVs) and to estimate the position of the UAV using vision-based techniques with an onboard camera, in a real-time, continuously interacting scenario. Here, vision based navigation is explored with different algorithms (RANSAC feature detection and normalized cross correlation with prior edge detection)...
This paper presents a novel strategy for object detection applied on a Quadrotor micro aerial vehicle (MAV) navigating in unknown urban environments. The Quadrotor is required to fly across a window and complete a transferring flight between an outdoor position to a final point inside a building. To achieve this goal, three main tasks must be accomplished; the first one involves the identification...
In this work, we present a collection of different techniques oriented to the altitude estimation in topological visual navigation tasks. All the methods use descriptors based on the global appearance of the scenes. The techniques are tested using our own experimental database, which is composed of a set of omnidirectional images captured in real lightning conditions including several locations and...
In this paper we suggest an improvement to a recent algorithm for estimating the pose and ego-motion of a camera which is constrained to planar motion at a constant height above the floor, with a constant tilt. Such motion is common in robotics applications where a camera is mounted onto a mobile platform and directed towards the floor. Due to the planar nature of the scene, images taken with such...
This paper proposes an ego-motion tracking method that utilizes visual-inertial sensors for wearable blind navigation. The unique challenge of wearable motion tracking is to cope with arbitrary body motion and complex environmental dynamics. We introduce a visual sanity check to select accurate visual estimations by comparing visually estimated rotation with measured rotation by a gyroscope. The movement...
The paper considers application of phase correlation method for solving 3D navigation problem. It is used for development of effective autonomous single-camera visual navigation systems for unmanned aerial vehicles.
Monocular visual odometry is an active research topic for mobile robot navigation due to its availability and simpleness. However, it inherently suffers from scale ambiguity inherently, so that the precesion of odometry becomes poor. In this paper, we propose a new method to resolve scale ambiguity for monocular visual odometry based on ground area extraction and a modified adaptive kalman-filter...
This paper presents a novel solution for a typical small-scaled quad-rotor UAV to autonomously search for and land on a pre-designed marker placed on a rooftop and to observe a digit panel on the opposite building. The UAV is equipped with a downward-facing monocular camera for landing target detection and pose estimation, as well as a front-facing camera for digit panel observation and surveillance...
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