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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...
The human visual system employs an information selection mechanism, visual attention, so that higher-level cognitive processes can be restricted to a potentially important subset of the incoming information. This mechanism is amenable to efficient computational implementation and, consequently, it has been incorporated into many technological applications. Among these applications is autonomous mobile...
In this work, we propose a new multi-color recognition method based on color constancy model, and present a realtime machine vision-based auto-sorting system corresponding to academic and industrial needs. The proposed color constancy computation method is computed by neighborhood contrast, and furthermore the relationship between the object color and the color constancy parameters is established...
This paper describes a preliminary development to an automatic tennis ball collecting machine. The framework adopts a roller to collect tennis balls when moving. Tennis balls are detected and tracked automatically by computer vision while hardware acceleration is used to improve efficiency. For navigation, fuzzy control and 6 ultrasonic sensors are used to avoid obstacles when approaching the targets...
Path planning is the one of the most basic research areas in robotics. It simply concern about acquiring a safe path with admissible cost. In this study, we adapt bidirectional rapidly random exploring tree (Bi-RRT) path extraction to visual based configuration space map hosting obstacles and smooth result path with curve fitting models. Firstly, a map of the configuration space is created and robot,...
A painting robot ARTCYBE is a machine developed to imitate an ability of a human painter to create realistic images with acrylic paints and a brush. In this paper a brushstroke rendering algorithm for this robot is presented. The algorithm converts a source bitmap image into a set of brushstrokes which we call a brushstroke map. The brushstroke map can be unambiguously transformed into a list of commands...
In this paper, we present an approach for detecting, recognizing and tracking varying number of objects through both have similarity shape and colors. The objects tracking is the varying notes of Indonesian traditional instrument called “gambang”. Our method build an idea how to recognize well the notes and classify each objects in real time tracking. The houghlines standard method is used to search...
In personal fabrication, novel fabrication frameworks that promote fabrications that satisfy individuals' creative preferences will become indispensable. To realize such a framework, it is necessary to study the following: (1) estimation of the emotion that is expressed when performing the creative work and (2) adaptive recommendations based on those emotion estimates. In this study, we performed...
The Robot World Cup Initiative instigates the challenge of programming robots which will one day be capable of competing against a human soccer team. The current state of the RoboCup Standard Platform League requires utilization of the humanoid NAO robots created by Aldebaran. While teams have made incredible progress in programming a NAO's ability to play the game, there is still a long way before...
Object detection and tracking system has been developed by several researchers. This paper present algorithm for visual ball detection and ball estimation for goalie (goalkeeper) robot. The ball is captured by a camera with a fish-eye lens and processed for detection and tracking. Images from fish-eye camera are curved images. Images are thresholded to Hue Saturation Value (HSV). The system can predict...
In this paper, a deep learning network is investigated to detect moving targets for a UAV equipped with monocular camera. An algorithm based on fully convolutional network is proposed to obtain the position and moving direction of targets. A Kalman filter is incorporated into the proposed algorithm to increase the accuracy of target position information acquisition. The experimental results show the...
This paper presents a cell recognition method aiming at guiding the implementation more simply and effectively for injecting multiple cells using biological cell injection systems. The cells are randomly placed in the field of view of a microscope. In particular, the method is proposed to guide the cell grasping device through computer vision to grasp multiple cells in a field of image region without...
Currently, the only mass-market service robots are floor cleaners and lawn mowers. Although available for more than 20 years, they mostly lack intelligent functions from modern robot research. In particular, the obstacle detection and avoidance is typically a simple physical collision detection. In this work, we discuss a prototype autonomous lawn mower with camera-based non-contact obstacle avoidance...
Weed scouting is an important part of modern integrated weed management but can be time consuming and sparse when performed manually. Automated weed scouting and weed destruction has typically been performed using classification systems able to classify a set group of species known a priori. This greatly limits deployability as classification systems must be retrained for any field with a different...
We investigate the task of recognizing objects of daily use in human environments purely based on object descriptions given in natural language. In particular, we present an approach to transform phrases stated in natural language that describe such objects by their visual appearance into formal, semantic representations of their perceptual characteristics, which in turn can be used in a robot perception...
Crop grow measurement technologies are important to increase the farm productivity. Detection and measurement of fruit volume are useful for forecasting and harvesting applications. Some environmental challenges such as lighting conditions or occlusions make the fruit detection difficult. Our approach is based on features extraction from images through a sub-image clustering technique. Then images...
Floor cleaning robot has gained popularity in the European country. When people are busy with their work, the robot is to take over house cleaning task. Most of the service robot technologies become more and more matured so that applications far beyond fetch and carry tasks will be possible in near future. Most of the robot perform one task at the time. To be of any use, cleaning robots should be...
Modern robotics involves partial or complete automation systems, which in turn requires the presence of elements of artificial intelligence. That's why appears a necessity in system of pattern recognition.
This paper presents a dynamic thresholding algorithm for robotic apple detection. The algorithm enables robust detection in highly variable lighting conditions. The image is dynamically split into variable sized regions, where each region has approximately homogeneous lighting conditions. Nine thresholds were selected so as to accommodate three different illumination levels for three different dimensions...
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