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Robotic ground vehicles are commonly used in various road conditions for performing special tasks with different levels of autonomy. This requires the robots to possess a certain degree of perception about the road conditions up ahead and make plans accordingly. It is essential for the robots to be able to quickly adapt their perception for various road conditions they operate. In this paper, an adaptive...
The automatic detection of anomalies in Active and Assisted Living (AAL) environments is important for monitoring the wellbeing and safety of the elderly at home. The integration of smart domotic sensors (e.g. presence detectors) and those ones equipping modern mobile robots (e.g. RGB-D cameras) provides new opportunities for addressing this challenge. In this paper, we propose a novel solution to...
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...
While current implementations of LIDAR-based autonomous driving systems are capable of road following and obstacle avoidance, they are still unable to detect road lane markings, which is required for lane keeping during autonomous driving sequences. In this paper, we present an implementation of semantic image segmentation to enhance a LIDAR-based autonomous ground vehicle for road and lane marking...
The remote controls which are used to control the robots are very expensive. In addition, one remote control is required for each robot. The goal of this work is to control multi robots at the same time by publish a single ROS message using one Android device. The user can drive robots with help of a variety of sensors and camera data which are displayed on the Android device screen, even if the user...
Accurately tracking the six degree-of-freedom pose of an object in real scenes is an important task in computer vision and augmented reality with numerous applications. Although a variety of algorithms for this task have been proposed, it remains difficult to evaluate existing methods in the literature as oftentimes different sequences are used and no large benchmark datasets close to realworld scenarios...
The modern society is now fully dependent upon technology and the technological approach has brought a revolutionary change in each and every field. This paper proposes a multipurpose robot to be used in the battle field. The robot contains Raspberry Pi which acts as a client, packs a video camera for live video streaming, mapping and gripper for disposal of explosives, a Wi-Fi module for controlling...
Collaboration between heterogeneous robots can greatly improve the overall robot system by obtaining capabilities that each single robot is unable to achieve. In this paper, we present a collaborative robot system designed for search and rescue missions in an unknown environment with obstacles. The system consists of an aerial robot and a ground robot. An extended Kalman filter (EKF) is used for...
We present a quadrotor system capable of autonomously landing on a moving platform using only onboard sensing and computing. We rely on state-of-the-art computer vision algorithms, multi-sensor fusion for localization of the robot, detection and motion estimation of the moving platform, and path planning for fully autonomous navigation. Our system does not require any external infrastructure, such...
Robot reaching ability serves as one of essential basis for many other manipulation skills, such as grasping, placing etc., and has been widely focused for decades. Inverse model, which plays a fundamental role within robot reaching ability, aims to produce motor commands to drive the system to the desired state. However, since the inverse model is always an one-to-many mapping, it suffers from the...
Reasoning about programs is an important component of computational thinking. Laws of computation give meaning to the formalisms in which programs are expressed, and can be used to predict or explain program behavior, or to uncover bugs. This paper presents Calypso, a language inspired by Microsoft's Kodu Game Lab but designed for programming actual mobile robots rather than characters in a virtual...
Body sensor networks (BSNs) have been increasingly used in medical applications such as exoskeleton control, powered prosthesis control, tremor suppression, gesture and sign language recognition systems, and human computer interfaces. This review explores the use of multi-modal sensor fusion in BSNs for the detection, measurement and classification of upper limb for the control of dynamic systems...
This paper presents a new stereo configuration based on sensor rotation. Different from the traditional stereo vision system which consists of multiple cameras, our rotational stereo device is built with a single image sensor. By constraining the sensor's planar motion perpendicular to the optical axis with an offset to the axis of rotation, the visual parallax can be generated with multiple viewpoints...
Surveillance is one of the most important security system in today's life as it protects home from theft, burglaries and murders, as become routine in big cities. This system is very useful as it is used in many places like offices, industrial, storehouse or bank locker room, ATM etc. This embedded based home security system designed by use of smart sensors like pyroelectric infrared sensor (PIR),...
Due to increase the terrorist activities throughout the world, it is very important to control and monitor their activities and quickly execute the required plan accordingly. This paper presents a smart Global Positioning System (GPS) based surveillance robotic system using Raspberry Pi for security application and remote sensing. This robotic system is fully controlled wirelessly via internet web...
This study extends existing Rubber Hand Illusion (RHI) experiments to employ life-size full-body humanlike android robot to investigate body ownership illusion and the sense of agency. For this study, we designed a novel experimental setting. The android robot moved synchronously with a participant's head and arm motion. Furthermore, a stereoscopic camera was mounted on the android's head and the...
Reconstruction of 3D environments is a problem that has been widely addressed in the literature. While many approaches exist to perform reconstruction, few of them take an active role in deciding where the next observations should come from. Furthermore, the problem of travelling from the camera's current position to the next, known as pathplanning, usually focuses on minimising path length. This...
This paper presents a real-time vision based robot teleoperation system that consists of a three-dimensional (3D) vision subsystem and a slave robot which are connected by LAN. The vision subsystem utilizes an Asus Xtion Pro Live camera to get the 3D data of the operation scene. The vision system is used to determine the position and orientation of a four-ball feature frame held by the operator. Then...
In Industry 4.0 scenarios, autonomously navigating robots will have to perform dedicated tasks in controlled environments, such as production halls or storage facilities. In the presence of pedestrians and other dynamic objects, robust collision detection is imperative in order to avoid harm of human or material. Supplementary sensors as part of the infrastructure may provide additional real-time...
A novel approach for robot tracking and identification based on barcodes is proposed in this paper. The proposed system tracks robots fitted with barcodes identifying them. The system performs distributed visual processing and collaborative barcode tracking, whereby the nodes exchange processed visual information with appropriate neighboring nodes, informing them about incoming targets. The proposed...
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