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The recognition of places by using visual information in underwater environments is important when performing autonomous robotic exploration of the same area at different periods of time. It helps the robot to know its location and take decisions accordingly. However, vision-based recognition of underwater places can be a very challenging task due to the inherent properties of this kind of places...
3D objects classification and retrieval are a growing research topic with many application in different areas, such as robotics, virtual/augmented reality, medicine and physics. In robotics, 3D objects can serve as robust landmarks for pose estimation and localization, so robust 3D object recognition methods are very important tools in this field. Co-occurrence matrices were used for texture classification...
A big challenge in the precision agriculture is the detection of fruits in coffee crops on agricultural environments. This paper presents a comparison of four features set to detect the red fruits (mature) in Coffee plants. An Unmanned Aerial Vehicle (UAV) is used to obtain high-resolution RGB images of a coffee hall. The proposed methodology enables the extraction of visual features from image regions...
In bridge buildings, concrete is widely used because its materials are considerably low-cost and it has high plasticity. However, some drawbacks exist in this kind of bridges, and crack is the most common ones. In order to avoid the cracks in bridge buildings becoming worse, it is necessary to periodically perform the inspection for it. Thus, a bridge inspection robot system with machine vision is...
This paper proposes a method for visual pose stabilization of Fotokite, a tethered small unmanned aerial system, using a forward facing monocular camera. Conventionally, Fotokite stabilizes itself only relative to its tether and not relative to the global frame. It is, therefore, susceptible to environmental disturbances (especially wind) or motion of its ground station. Related work proposed visual...
In the geological exploration of the Adit, the texture, section, joint and other rock structural information are important factors to determine the stability of the Adit. Therefore, the collection and analysis of rock data information are the premise work and the key process of the safe production. Faced with the actual requirements of Adit 3D reconstruction, an automatic 3D reconstruction system...
A social robot has to ascertain the personality of the human interacting with it through verbal or non-verbal communication. While existing literature focuses on facial feature recognition for non-verbal communication, we propose using handshake patterns to classify the personality of the concerned human. Due to the largely random nature of the gestures in handshakes, general pattern recognition methods...
In order to improve the information elements in fashion design display ability, feature extraction and pattern information for modeling clothing texture, a clothing texture pattern texture segmentation method the dynamic characteristics and speed up robust feature matching based on sparse interference on clothing texture acquisition case scattered point segmentation and denoising, color the introduction...
To allow collaborative robots to work efficiently and effectively with their human partners, one of the critical functions they need is to precisely and robustly recognize human intentions, i.e., what action they will perform next. In this paper, we present a Recurrent Convolutional Neural Networks (RCNN)-based system that is capable of recognizing a human intention much earlier than the intended...
In this paper we propose an algorithm to maximize the information about a monitored target object for controlling multiple autonomous Unmanned Aerial Vehicles (UAVs). Our scheme does not require manual operation of UAVs and they can determine their movement solely based on the algorithm. We use the number of feature points of the target object and multiple UAVs alternatingly move until they converge...
In this paper, we present the first multilevel implementation of the Harris-Stephens corner detector and the ORB feature extractor running on FPGA hardware, for computer vision and robotics applications. ORB is a fundamental component of many robotics applications, and requires significant computation. The design has been validated both in behavioural simulation and in implementation on an Arria V...
Recent statistics show that more than 10 million people in the world suffer amputation. Most of these people also have depression because of losing their hand, arm and leg movements. With current technology it is possible to give these people hands, arms and legs. Our aim is to give these people a chance to live. In this study we have designed a robotic hand in order to grasp objects. Grid based feature...
We formulate a concept of a future smart environment for high quality of life (SEQUAL) that would empower humans to compensate for physical and cognitive disabilities associated with sickness and aging. In SEQUAL the assessment of the state of ‘well-being’ — from behaviors and biological signals — is holistic, meaning that the estimation of individual's health, emotional condition, activity and wishes,...
Map retrieval, the problem of similarity search over a large collection of 2D pointset maps previously built by mobile robots, is crucial for autonomous navigation in indoor and outdoor environments. Bag-of-words (BoW) methods constitute a popular approach to map retrieval; however, these methods have extremely limited descriptive ability because they ignore the spatial layout information of the local...
In order to enhance the efficacy of the prosthetic and orthotic robotic devices controlled by surface electromyography (sEMG) signals, muscle activity detection algorithms need to be independent of the amplitude variation in the sEMG signal to make these devices more feasible and reliable for the disabled people. A new algorithm has been developed to detect the presence of muscle activities in weak...
Emotions play a significant role in human communication and decision making. In order to bypass current limitations of human-robot interaction, more natural, trustworthy and nonverbal way of communication is needed. This requires robots to be able to explain and perceive person's emotions. Our work is based on the concept that each emotional state can be placed on a two-dimensional plane with arousal...
This paper presents a novel method using accelerated KAZE (AKAZE) and Gist for a context-based semantic classification and recognition of indoor scenes used for a vision-based mobile robot. Our method represents spatial relations among categories for mapping neighborhood units on category maps using counter propagation networks (CPNs) while maintaining sequential information of labels generated from...
Interactive robotics is a vast and expanding research field. Interactions must be sufficiently natural, with robots having socially acceptable behavior by Humans, adaptable to user expectations. Thus allowing easy integration in our daily lives in various fields (science, industry, health, etc). Natural interaction during Human-Robot collaborative action needs suitable interaction techniques. In our...
Autonomous scene understanding by object classification today, crucially depends on the accuracy of appearance based robotic perception. However, this is prone to difficulties in object detection arising from unfavourable lighting conditions and vision unfriendly object properties. In our work, we propose a spatial context based system which infers object classes utilising solely structural information...
We present a system for temporal detection of social interactions. Many of the works until now have succeeded in recognising activities from clipped videos in datasets, but for robotic applications, it is important to be able to move to more realistic data. For this reason, the proposed approach temporally detects intervals where individual or social activity is occurring. Recognition of human activities...
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