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This paper presents a novel strategy addressing visual SLAM with enhancement of data association method. Hyper graph theory and transformation was incorporated within cooperative visual SLAM. The research presented a synthetic approach to fulfill a cooperative data association and fusion strategy for multiple UAVs equipped with stereo vision cameras encountered with indistinct imaging, where conventional...
This paper proposes an improvement to FastSLAM. The approach is applicable when the dynamic model describing the motion of the camera has linear sub-structure. The core novelty of the proposed algorithm is to separate the consideration of the camera's dynamic model into two sub-models without constraining the two sub-models to have independent noise processes. In contrast to commonly-used FastSLAM...
Reliably localizing and tracking displays moving relative to content in the physical world is one of the primary technical challenges facing all augmented reality systems. While significant progress has been made in recent years, all approaches remain limited to functioning only in certain environments and situations. Attempts to improve solution generality via additional sensors (e.g., depth sensors,...
Localization and navigation are fundamental issues to autonomous mobile robotics. In the case of the environmental map has been built, the traditional two-dimensional (2D) lidar localization and navigation system can't be matched to the initial position of the robot in dynamic environment and will be unreliable when kidnapping occurs. Moreover, it relies on high-cost lidar for high accuracy and long...
The growing need of Disaster management requires some specialties in sophisticated technologies. Navigating an Unmanned Aerial Vehicle (UAV) in an unknown indoor environment is a complex task. This work tries to implement an autonomous system, which navigates the Low-cost Quadcopter with an on-board computer, sensors and Ground station which carries out a spatially consistent probabilistic model for...
In this paper, we present a method of sensor data fusion to solve some problems in the robot navigation process. As we all known, 2D range laser has the advantage of high precision, long distance and obstacle avoidance. It is very common to solve the problem of Simultaneous Localization and Mapping (SLAM) during navigation by using lasers. However, if we use the laser-only method to build our environment...
The task of planetary exploration poses many challenges for a robot system, from weight and size constraints to sensors and actuators suitable for extraterrestrial environment conditions. In this work, we present the Light Weight Rover Unit (LRU), a small and agile rover prototype that we designed for the challenges of planetary exploration. Its locomotion system with individually steered wheels allows...
We present a prototype system intended to be used for positioning and mapping by soldiers or first responders in unknown and dangerous environments. The system is based on inertial navigation combined with images and dense distance measurements from a range camera using active illumination. Although it is a prototype, the system can be used for evaluation in real-time, presenting results on a tablet...
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...
The main objective of our work is to demonstrate how recommender systems can be deployed to enhance access to museum collections. Visitors of museums are often overwhelmed by the information available in the space they are exploring. Therefore, finding relevant artworks to see in a limited amount of time is a crucial task. In this paper, we present a recommender system for mobile devices that (1)...
This research covers an endeavor by the author on the usage of automated vision and navigation framework; the research is conducted by utilizing a Kinect sensor requiring minimal effort framework for exploration purposes in the zone of robot route. For this framework, GMapping (a highly efficient Rao-Blackwellized particle filer to learn grid maps from laser range data) parameters have been optimized...
In this paper a principle scheme of new approach to Reliable Unmanned Aerial Vehicles Navigation (UAV) is purposed. It consists in building a reliable reserve control channel and using it together with well-known GPS/INS scheme. The idea of the approach lies in the usage of information from the onboard camera directed at nadir to enhance positioning of UAVs to
Accurate and consistent ego motion estimation is a critical component of autonomous navigation. For this task, the combination of visual and inertial sensors is an inexpensive, compact, and complementary hardware suite that can be used on many types of vehicles. In this work, we compare two modern approaches to ego motion estimation: the Multi-State Constraint Kalman Filter (MSCKF) and the Sliding...
This paper addresses the development of an underwater visual navigation system for a Remotely Operated Vehicle (ROV) based on Real-Time Simultaneous Localization and Mapping method using natural landmarks. Our proposed approach was tested in an indoor tank, where field experiments were performed to obtain 3D vehicle (VIDEORAY Pro3 ROV) trajectory, and results validated using an external stereo vision...
We propose a semantic map representation and human-like navigation strategies for the mobile robot with a monocular camera. First, we develop a method to automatically detect landmarks, which make up a perceived planar region. Next, we build a vision-based map with the detected visual planar landmarks. To build a map with a single camera, we use the concept of bearing-SLAM. The landmark bearings are...
Frequently, robots find themselves asking this question. Knowing your location?? And being able to navigate to other locations is extremely important for autonomous robots. The act of finding one's location against a map is known as localization. So how can a robot localize itself? The most common form of intelligent localization and navigation is to use a map, combined with sensor readings and some...
In this paper, We made an algorithm for a mobile robot to determine direction normal to the wall with two cameras in an indoor environment without any direction-notification marks. Furthermore, with this direction determination ability, made a method with which a mobile robot can navigate and search through an indoor corridor path without any predefined map information is made. the direction determination...
This paper aims at proposing a framework for Airborne Cooperative Visual Simultaneous Localization and Mapping (C-VSLAM). The use of cooperative vehicles presents many advantages over single-vehicle architecture. We present a nonlinear H∞ filtering scheme adapted to multiple Unmanned Aerial Vehicle (UAV) VSLAM based on the extension of a robust single vehicle VSLAM solution. Loop closure concept,...
We propose a new computer vision approach to locate a walking pedestrian by a camera image of first-person vision in practical situation. We assume reference points have been registered with other first-person vision images. We utilize SURF and define seven matching criteria that derive from the property of first-person vision so that it rejects false matching. We have implemented a preliminary system...
Navigating an autonomous underwater vehicle (AUV) is a difficult task. Dead-reckoning navigation is subject to unbounded error due to sensor inaccuracies and is inapplicable for mission durations longer than a few minutes. To limit the estimation errors a global referencing method has to be used. SLAM (Simultaneous Localization And Mapping) is such a method. It uses repeated recognition of significant...
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