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In this video we briefly illustrate the progress and contributions made with our mobile, indoor, service robots CoBots (Collaborative Robots), since their creation in 2009. Many researchers, present authors included, aim for autonomous mobile robots that robustly perform service tasks for humans in our indoor environments. The efforts towards this goal have been numerous and successful, and we build...
Accurately measuring the location of facial features is an important step in many face recognition algorithms. Every face is unique which means localization needs to be tolerant of differences between individual subjects. Additionally, changing illumination, poor focus, and deformation due to expression changes complicate the problem. This paper introduces a method for locating facial features that...
Pose tracking technique has great potential for many applications such as marker-free human motion capture system, Human Computer Interactions (HCI), and video surveillance. Though many methods are introduced during last decades, self-occlusion - one body part is occluded by another one - is still considered one of the most difficult problems for 3D human pose tracking. In this paper, we propose a...
Building robots capable of long term autonomy has been a long standing goal of robotics research. Such systems must be capable of performing certain tasks with a high degree of robustness and repeatability. In the context of personal robotics, these tasks could range anywhere from retrieving items from a refrigerator, loading a dishwasher, to setting up a dinner table. Given the complexity of tasks...
In our earlier studies, we have proposed an image morphing based steganography. The basic idea is to embed a secrete image into a stego image through morphing. The stego image is a morphed image obtained from the secrete image and some other reference images. To make this method more practically useful, it is essential to make the stego image as natural as possible. For this purpose, we should define...
We propose a Multi-Brain (multi bio-signal) Fusion (MBF) technology, which consists in the aggregation and analysis of brain and other biometric signals collected from a number of individuals. Often performed in the context of some common stimulus, MBF aims to facilitate rapid/enhanced collective analysis and decision making, or to assess aggregate characteristics, such as a group emotional index...
Word of mouth represents, from historical times, a powerful mechanism employed within human societies for influencing the behavior of their members. Translated into the computational world, the same feedback mechanism preserves or even broadens its impact. This paper presents an intriguing perspective on using reputation systems: reputation is gained by complying with the norms and norms are modified...
We present a robust system for large-scale abandoned object detection (AOD) with low false positive rates and good detection accuracy under complex realistic scenarios. The robustness of our system is largely attributed to an approach we develop for foreground analysis, which can effectively differentiate foreground objects from background under challenging conditions such as lighting changes, low...
This research work proposes an innovative processing scheme for the exploitation of eye movement dynamics on the field of biometrical identification. As the mechanisms that derive eye movements highly depend on each person's idiosyncrasies, cues that reflect at a certain extent individual characteristics may be captured and subsequently deployed for the implementation of a robust identification system...
In this paper, we propose a watermarking algorithm for colour image, concept of visual cryptography extended to digital watermarking based on VSS algorithm. An image which has to be transmitted (watermark) is split into two sheet-images using visual secret sharing algorithm. Then, one sheet-image are embedded into the host image blue component before transmission and second sheet-image is held by...
The stability and fragility of four species¡¦ (rat, yeast, mouse, human) protein complex networks (PCNs) are studied by investigating their robustness, i.e. whether their global topological properties, especially average diameter, retain a similar system behavior with respect to four different types of perturbations or not. Four types of perturbations consist of : (i) network edges are randomly removed,...
Human detection is one of the hard problems in object detection field. There are many challenges like variation in human pose, different clothes, non-uniform illumination, cluttered background and occlusion which make this problem much harder than other object detection problems. Defining good features, which can be robust to this wide range of variations, is still an open issue in this field. To...
The concept of authentication assurance traditionally refers to the robustness of methods and mechanisms for user authentication, including the robustness of initial registration and provisioning of user credentials, as well as the robustness of mechanisms that enforce user authentication during operation. However, the user is not the only party that needs to be authenticated to ensure security of...
In this paper, an exoskeleton robotic device worn by human operator is developed mainly for support and rehabilitation, as well as improvement of human capabilities. In order to enhance the device ability to finely interact with a human limb, it is necessary to develop a control interface for exoskeletons, which would guarantee comfort and safety, as well as efficiency and robustness. The developed...
Human pose estimation is a classic problem in computer vision. Statistical models based on part-based modelling and the pictorial structure framework have been widely used recently for articulated human pose estimation. However, the performance of these models has been limited due to the presence of self-occlusion. This paper presents a learning-based framework to automatically detect and recover...
The bipedal spring-mass model embodies important characteristics of human walking, and therefore serves as an important starting point in studying human-like walking for robots. In this paper, we propose to extend the bipedal spring-mass model with variable leg stiffness and exploit the potential of this model in order to mimic the human capability to continuously adapt the leg stiffness to different...
Human action recognition is an important yet challenging task. The recently developed commodity depth sensors open up new possibilities of dealing with this problem but also present some unique challenges. The depth maps captured by the depth cameras are very noisy and the 3D positions of the tracked joints may be completely wrong if serious occlusions occur, which increases the intra-class variations...
A large number of vision applications rely on matching keypoints across images. The last decade featured an arms-race towards faster and more robust keypoints and association algorithms: Scale Invariant Feature Transform (SIFT)[17], Speed-up Robust Feature (SURF)[4], and more recently Binary Robust Invariant Scalable Keypoints (BRISK)[I6] to name a few. These days, the deployment of vision algorithms...
In a previous study, stability of a spring-mass hopping-model with variable rest length and stiffness during stance has been investigated. Here, robustness of the stable hopping solutions is addressed. For this, the basin of attraction of the stable fixed points is determined. Results show a tradeoff between maximum stability and maximum robustness. Additional velocity-dependent damping only slightly...
Man-made structures often appear to be distorted in photos captured by casual photographers, as the scene layout often conflicts with how it is expected by human perception. In this paper we propose an automatic approach for straightening up slanted man-made structures in an input image to improve its perceptual quality. We call this type of correction upright adjustment. We propose a set of criteria...
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