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Generally, underwater hull inspection have been conducted by human divers. It is an extremely dangerous task, and hence, can be a potential application for unmanned underwater vehicles. The operational safety and performance of in-water inspection can be significantly improved by introducing unmanned vehicle systems. This study addresses the development of an hover-capable autonomous underwater vehicle...
An automated docking system is presented for an autonomous underwater vehicle utilizing light-field imaging for navigation guidance. This article focuses on three major components of the system: docking position acquisition with light-field imaging, optimal docking trajectory planning, and nonlinear trajectory tracking control. With the camera sensor data of each photographic exposure, depth maps...
This paper proposes and implements a convolutional neural network (CNN) that maps images from a camera to an error signal to guide and control an autonomous underwater vehicle into the entrance of a docking station. The paper proposes to use an external positioning system synchronized with the vehicle to obtain a dataset of images matched with the position and orientation of the vehicle. By using...
A set of Matlab tools were developed to create seafloor mosaics from AUV photosurveys. The resulting mosaic products are used to guide instrument placement, ground-truth acoustic backscatter targets, and inspect sensor packages or other targets. Because of the positional sensitivity of these tasks, effort has been made to preserve the geographic distribution of the image content. After initial image...
Nowadays, it is notorious the increasing use of autonomous vehicles in different outdoor field applications such as agriculture, the mining industry, environmental monitoring, among others. In this context, the determination of the traversability level of a terrain is a fundamental task for safe and efficient navigation of Autonomous Ground Vehicles (AGVs) in unstructured unknown outdoor environments...
In this paper, we introduce a heterogeneous stereo sensing system that aim to solve the real life difficulties in vision based autonomous navigation. The common practice for vision autonomous robotics navigation is to concatenate camera(s), SLAM and path planning modules. We observe an dilemma where visual SLAM demand wide angle cameras to perform robust tracking and path planning require sensor to...
This paper describes the implementation of a 3D handheld scanning approach based on Kinect. User may get the 3D scans at a very fast rate using real time scanning devices like Kinect. These devices have been utilized in several applications, but the scanning lacks in the accuracy and reliability of the 3D data, which makes their employment a difficult task. This research proposed the 3D handheld scanning...
Robots assist rescuers in search and rescue operations. The important aspects investigated in this study are the integration of a mechatronic system that will allow for a robotic platform with a vision system. The research collaboration between Argentina and South Africa is discussed with the correlating research areas that each country will investigate to allow for the development and advancement...
To solve the problem that the navigation accuracy of substation patrol car is not high and the current navigation rail construction is expensive, a method of navigation and positioning based on image recognition is proposed. The method is that, firstly, print the special pattern at a fixed distance on the inspection path. Then, the navigation camera fixed on the car collect the images vertically....
The research on developing assistive devices for visually impaired people greatly relies on image processing techniques. Extensive effort is made on detecting the obstacles in front of the user. Beside the normal obstacles that the user can bump into, another category of obstacles, negative obstacles must also be detected. Negative obstacles are usually represented by holes in the ground or regions...
This poster discusses the implementation and technical choices of a proof of concept experience demonstrating interactive virtual characters for immersive mixed reality (MR) applications. Our interactive virtual characters are made believable through their visual appearance, physical interaction with the environment, dynamic behavior to the user and both real and virtual stimuli, and by being able...
In this paper, we introduce CamSLAM, a simultaneous localization and mapping (SLAM) framework composed of a powerful visualinertial odometry backbone using an error-state Extended Kalman Filter (EKF) for sensor fusion, and a very efficient and lightweight parallel mapping engine utilizing keyframe based pose graph data structure and binary descriptors for feature matching and indexing. The framework...
Feature extraction is a key component of a Monocular Simultaneous Localization and Mapping (Monocular SLAM) system which permits to extract features and can also reliably track them over frames. In this paper, a novel approach for Monocular SLAM is proposed. This approach uses the information on the camera displacement and image saliency to adequately extract stable and suitable features, ones that...
Obstacle avoidance and navigation are major problems for blind people. They require help to pass safely. This paper presents an obstacle avoidance system for blind people using Kinect depth camera. This assistive technology recognizes the medium in front of the user using Kinect depth camera. The system receives the depth images from the Kinect camera and processes it using a windowing-based mean...
A navigator draws a route on a chart to navigate a ship from an origin port to a destination port. Then, the navigator sails the ship based on the route. In other word, the navigator misidentifies the route there is a possibility of running aground. In order to prevent navigator's misidentifies, this study proposed a sea route display system which displays the sea route on the surface of the sea by...
This paper presents a new approach for navigating a quadrotor over undulated terrains that can be of great importance for the use of unmanned aerial vehicles in civilian applications such as monitoring of pipes, bridges and buildings. The proposed approach involves the use of a single-beam LiDAR to estimate the terrain profile under uncertainty. The LiDAR is installed at the base of a quadrotor and...
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...
Image-guided navigation is an important component of the orthognathic assisted robot, and it allows the robots to operate in precise accordance with a preoperative virtual plan. However, the present commercially available image-guided navigation systems, which use infrared-based tracking, cant guide the relocation of the bone in the orthognathic operation, that means they are not suitable for orthognathic...
In this paper we present an end to end object modeling pipeline for an unmanned aerial vehicle (UAV). We contribute a UAV system which is able to autonomously plan a path, navigate, acquire views of an object in the environment from which a model is built. The UAV does collision checking of the path and navigates only to those areas deemed safe. The data acquired is sent to a registration system which...
Micro aerial vehicles (MAVs) are strongly limited in their payload and power capacity. In order to implement autonomous navigation, algorithms are therefore desirable that use sensory equipment that is as small, low-weight, and low- power consuming as possible. In this paper, we propose a method for autonomous MAV navigation and exploration using a low-cost consumer-grade quadrocopter equipped with...
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