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Vision is a potent source of information, not just for humans, but for robots as well. Processing visual information is a computationally expensive task, one that is often difficult to accomplish in real-time on embedded hardware. In the broad field of visual research exists egomotion estimation, the process of determining self-motion from optical flow. Here we show a technological adaptation and...
Indoor exploration based on panoramic images has been of interest in both navigation and visualization scenarios of mobile intelligent systems, becoming an appealing research topic in hardware design and computational algorithms. A detailed profile of an indoor scene further used for 3D reconstruction purposes or visualization requires an accurate high-resolution rendering from multiple camera shots...
We propose a software-based projected image stabilization method for a projector mounted on a movable unit (e.g., a wheeled robot). The proposed method is divided into pre-measurement and stabilization processes. In the pre-measurement process, synchronized Inertial Measurement Unit (IMU) data and projector poses are measured and synchronized. In the stabilization process, the pre-measured IMU data...
Attention-based bio-inspired vision can be studied as a different way to consider sensor processing, firstly allowing to reduce the amount of data transmitted by connected cameras and secondly advocating a paradigm shift toward neuro-inspired processing for the post-processing of the few regions extracted from the visual field. The computational complexity of the corresponding vision models leads...
We are presenting PanoVC — a mobile telepresence system based on continuously updated panoramic images. We are showing that the experience of telepresence, i.e. the sense of "being there together" at a distant location can be achieved with standard state-of-the-art mobile phones. Because mobile phones are always on hand users can share their environments with others in a pervasive way. Our...
This article deals with a problem of creating and managing medium to large scale software projects aimed at promoting research activities in the field of autonomous mobile robotic systems. We will demonstrate on an example of such systems how we identified critical parts of the project and how can be created simple but powerful software architecture suitable for complex management of all subsystems...
The aim of this paper is to present a practical method to land a Quadrotor MAV (Micro Arial Vehicle) on a landing pad or charger dock station. Nowadays Quadrotor MAVs are very popular but due to nonlinear dynamics and ground effects problems landing of a Quadrotor MAV is a control challenge specially in outdoor environments. For this purpose a high level fuzzy controler and a low level PID stablizer...
Among autonomous surface vehicles, sailing robotics could be a promising technology for long-term missions and semipersistent presence in the oceans. Autonomy of such vehicles in terms of energy will be achieved by renewable solar and wind power sources. Autonomy in terms of sailing decision will be achieved by innovative perception and navigation modules. The main contribution of this paper is to...
This paper will discuss the system level verification and validation test program for the surface capability of the Mars Science Laboratory (MSL) Curiosity Rover. MSL has many similarities to its predecessors, the Mars Exploration Rovers Spirit and Opportunity. However, Curiosity's diverse science payload, new sampling system, and overall scale led to new challenges in development and testing. The...
Live migration is an advanced virtualization capability supported by several Virtual Machine Manager (VMM) solutions that allows a running virtual machine (VM) to be moved from one physical server to another without interruption. In the past, it was a premium feature largely restricted to enterprise datacentres due the need for Storage Area Networks (SANs), but advances in technology and increased...
Robotic vision has become an important field of research for micro aerial vehicles in the recent years. While many approaches for autonomous visual control of such vehicles rely on powerful ground stations, the increasing availability of small and light hardware allows for the design of more independent systems. In this context, we present a robust algorithm able to recover the UAV ego-motion using...
We present an academically developed framework for real time computations in Micro UAVs and Ground Robotics. Dynamic Partial Reconfiguration is used as a hardware accelerator in a heterogeneous environment which enables computationally demanding applications to take effective advantage of adaptive hardware resources while maintaining a high flexibility of software. We demonstrate our hypothesis by...
A system has been developed that can project an embodied agent's image and sound anywhere in a room. It can thus overcome the problems inherent to other embodied agents in dealing with 2D on-screen information and 3D physical information simultaneously. An experiment demonstrated that this `PROT' agent can effectively present both on-screen information and real-world physical information. Because...
This paper describes the initial steps in the development of an object detection system for manipulation purposes, to be embedded in a mobile robot. The goal is to design a robotic system to aid workers in a manufacturing plant. The proposed implementation involves the integration of a Field Programmable Gate Array (FPGA) based electronic module with the manipulator arm of the robotic platform. The...
The autonomous underwater vehicle has proven to be a useful tool for ocean research. However detailed seafloor observations such as microscopic analysis of sand grain structure or study of microbial colonies require a platform with stable footing on the seafloor, which cannot be provided by a cruising type AUV. In this research the authors propose a new class of AUV, capable of landing to provide...
We present an integrated vision and robotic system that plays, and learns to play, simple physically-instantiated board games that are variants of TIC TAC TOE and HEXA-PAWN. We employ novel custom vision and robotic hardware designed specifically for this learning task. The game rules can be parametrically specified. Two independent computational agents alternate playing the two opponents with the...
This paper presents the hardware and software of an embedded system, intended for video acquisition, processing and network streaming. The applications for this system are in the fields of surveillance and robotics. All the tasks are concentrated in a single powerful processor thus providing a cost-effective solution.
This paper describes the hardware and software systems that make up an experimental architecture developed to facilitate teleoperation research for miniature rotorcraft. One objective in developing this platform is to place the minimum required sensors and electronics onboard a miniature helicopter with limited payload. The onboard hardware resources must be sufficient to simplify the teleoperation...
Application of a vision system and a remote control car to an elective fourth year design project in electrical engineering is discussed. The design project involves learning and application of various sensors, actuators, control theories. The end product of the design project is an intelligent vehicle that is able to follow an emulated highway automatically. A camera with embedded color tracking...
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