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The robots in warehouse have boosted the efficiency and economic benefits of the logistic industrial chain. This paper provides a deep learning, single-camera-based solution to navigate vehicles in warehouse. Firstly we train a Faster R-CNN model to detect shelf-legs and tags in the captured image. To position the localized objects into the world coordinate, we then present a precise Inverse Perspective...
This work introduces a wearable system to provide situational awareness for blind and visually impaired people. The system includes a camera, an embedded computer and a haptic device to provide feedback when an obstacle is detected. The system uses techniques from computer vision and motion planning to (1) identify walkable space; (2) plan step-by-step a safe motion trajectory in the space, and (3)...
Flying and walking robots can use their complementary features in terms of viewpoint and payload capability to the best in a heterogeneous team. To this end, we present our online collaborative navigation framework for unknown and challenging terrain. The method leverages the flying robot's onboard monocular camera to create both a map of visual features for simultaneous localization and mapping and...
This paper is focused on control of a six-wheeled robotic platform used for gait pattern recording. Navigation of the platform has to be very precise to keep the path of the platform as narrow as possible and to maintain the distance between the subject and the platform to capture the gait pattern in the most natural way. A key component of the whole robotic platform is an MS Kinect v2 device which...
Visual information is essential for navigation oriented tasks, but visually challenged individuals face difficulties in performing these tasks since they lack sufficient information regarding their surrounding environment. In the literature, many vision and non-vision based aids have been proposed to help the blind for navigation and perception in general. The proposed system aims to a provide reactive...
Mobility for blind or partially blind with walking disability is hard to realize. A walking frame assists in movement, but the orientation and positioning for people with restricted visual ability without external help is nearly impossible. They also have trouble with object recognition to avoid collisions and prevent injuries. Therefore there is the need to assist people with restricted moving and...
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...
Real-time dense mapping and pose estimation is essential for a wide range of navigation tasks in mobile robotic applications. We propose an odometry and mapping system that leverages the full photometric information from a stereo-vision system as well as inertial measurements in a probabilistic framework while running in real-time on a single low-power Intel CPU core. Instead of performing mapping...
With the growing interest in natural input devices and virtual reality, mid-air ground navigation is becoming a fundamental interaction for a large collection of application scenarios. While classical input devices (e.g., mouse/keyboard, gamepad, touchscreen) have their own ground navigation standards, natural input techniques still lack acknowledged mechanisms for travelling in a 3D scene. In particular,...
In this paper, we propose an approach of following a visual path for humanoid navigation. The problem consists in computing appropriate robot velocities for the humanoid walking task from the visual data shared between the current robot view and a set of target images. Two types of visual controllers are evaluated: a position-based scheme and an image-based scheme. Both of them rely on the estimation...
In this paper we present an exploratory work on the use of foot movements to support fundamental 3D interaction tasks. Depth cameras such as the Microsoft Kinect are now able to track users' motion unobtrusively, making it possible to draw on the spatial context of gestures and movements to control 3D UIs. Whereas multitouch and mid-air hand gestures have been explored extensively for this purpose,...
This paper proposes a navigation technique for traveling inside a real-scale 3D model based on human gesture analysis. In the first step, a simple threshold is used as a criterion to analyze gestures. In the next step, a complex criterion will be imposed to the analysis to improve the navigation technique. Walking is a periodic signal and moving feet up and down is a part which is repeated. A mother...
This paper proposes a novel concept for helping the visually impaired know what kind of object there is in an environment. This concept is implemented as a cane system that selects a target object based on a user's demand, recognizes the object from depth data obtained by a Microsoft Kinect sensor, and returns the recognition results via a tactile device. The proposed system is evaluated through a...
Localization and modeling of stairways by mobile robots can enable multi-floor exploration for those platforms capable of stair traversal. Existing approaches focus on either stairway detection or traversal, but do not address these problems in the context of path planning for the autonomous exploration of multi-floor buildings. We propose a system for detecting and modeling ascending stairways while...
In this paper, we present an approach to traversability classification solely based on monocular images and odometry estimates. We iteratively estimate the ground plane by detecting and matching features. Since the features are only sparse in the images and do not lead to dense information about traversability, we present a technique to train appearance-based floor detectors. In this way, we achieve...
In this paper we present novel sensory feedbacks named ”King-Kong Effects” to enhance the sensation of walking in virtual environments. King Kong Effects are inspired by special effects in movies in which the incoming of a gigantic creature is suggested by adding visual vibrations/pulses to the camera at each of its steps. In this paper, we propose to add artificial visual or tactile vibrations (King-Kong...
We investigate user experiences when using augmented reality (AR) as a new aid to navigation. We integrate AR with other more common interfaces into a handheld navigation system, and we conduct an exploratory study to see where and how people exploit AR. Based on previous work on augmented photographs, we hypothesize that AR is used more to support wayfinding at static locations when users approach...
We investigate user experiences when using augmented reality (AR) as a new aid to navigation. We integrate AR with other more common interfaces into a handheld navigation system, and we conduct an exploratory study to see where and how people exploit AR. Based on previous work on augmented photographs, we hypothesize that AR is used more to support wayfinding at static locations when users approach...
Applying the technologies of a network robot system, we incorporate the recommendation methods used in E-commerce in a retail shop in the real world. We constructed a platform for ubiquitous-networked robots that focuses on a shop environment where communication robots perform customer navigation. The platform estimates customer interests from their pre-purchasing behaviors observed by networked sensors...
Telepresence robots are mobile robot platforms capable of providing two way audio and video communication. Recently there has been a surge in companies designing telepresence robots. We conducted a series of user studies at Google in Mountain View with two different commercially available telepresence robots. Based on the data collected from these user studies, we present a set of guidelines for designing...
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