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Author: Yufei Qi
Publisher:
ISBN: 9781267872975
Category :
Languages : en
Pages : 78
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Book Description
A performance analysis of several vision-based robot localization systems is presented for real-time Micro Aerial Vehicle (MAV) navigation tasks in touch-free, GPS denied, and high-accuracy environments. The systems were designed and utilized during our quadrotor visual control research, consisting of a local positioning system (LPS), a simplified monocular visual odometry (VO), and a stereo visual odometry ranging system. Measurement performance is evaluated through experiments performed using a membrane potentiometer sensor as reference. Feature-based image processing algorithms and motion detection methods are implemented to generate 3D position information from 2D image data. Performance analysis gave verified data for the applications of those systems. Final measurement resolution of 1mm was obtained for the LPS, and a high positioning accuracy was demonstrated for the VO systems.
Author: Yufei Qi
Publisher:
ISBN: 9781267872975
Category :
Languages : en
Pages : 78
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Book Description
A performance analysis of several vision-based robot localization systems is presented for real-time Micro Aerial Vehicle (MAV) navigation tasks in touch-free, GPS denied, and high-accuracy environments. The systems were designed and utilized during our quadrotor visual control research, consisting of a local positioning system (LPS), a simplified monocular visual odometry (VO), and a stereo visual odometry ranging system. Measurement performance is evaluated through experiments performed using a membrane potentiometer sensor as reference. Feature-based image processing algorithms and motion detection methods are implemented to generate 3D position information from 2D image data. Performance analysis gave verified data for the applications of those systems. Final measurement resolution of 1mm was obtained for the LPS, and a high positioning accuracy was demonstrated for the VO systems.
Author: Melissa Hershey
Publisher:
ISBN:
Category :
Languages : en
Pages : 130
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Book Description
Author: Emanuele Frontoni
Publisher: Lulu.com
ISBN: 147106977X
Category : Technology & Engineering
Languages : en
Pages : 157
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Book Description
The use of vision in mobile robotics in one of the main goal of this thesis. In particular novel appearance based approaches for image matching metric are introduced. These approaches are applied to the problem of mobile robot localization.Similarity measures between robot's views are used in probabilistic methods for robot pose estimation. In this field of probabilistic localization active approach are proposed allowing the robot to faster and better localize. All methods have been extensively tested using a real robot in an indoor environment.Note: the book is the publication of the PhD thesis discussed in Università Politecnica delle Marche, Ancona, Italy in 2006 by Emanuele Frontoni
Author: C. H. Chen
Publisher: World Scientific
ISBN: 9814343005
Category : Computers
Languages : en
Pages : 508
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Book Description
This book gives a comprehensive overview of the most advanced theories, methodologies and applications in computer vision. Particularly, it gives an extensive coverage of 3D and robotic vision problems. Example chapters featured are Fourier methods for 3D surface modeling and analysis, use of constraints for calibration-free 3D Euclidean reconstruction, novel photogeometric methods for capturing static and dynamic objects, performance evaluation of robot localization methods in outdoor terrains, integrating 3D vision with force/tactile sensors, tracking via in-floor sensing, self-calibration of camera networks, etc. Some unique applications of computer vision in marine fishery, biomedical issues, driver assistance, are also highlighted.
Author: Yu Sun
Publisher: Springer
ISBN: 3662438593
Category : Technology & Engineering
Languages : en
Pages : 209
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Book Description
The field of robotic vision has advanced dramatically recently with the development of new range sensors. Tremendous progress has been made resulting in significant impact on areas such as robotic navigation, scene/environment understanding, and visual learning. This edited book provides a solid and diversified reference source for some of the most recent important advancements in the field of robotic vision. The book starts with articles that describe new techniques to understand scenes from 2D/3D data such as estimation of planar structures, recognition of multiple objects in the scene using different kinds of features as well as their spatial and semantic relationships, generation of 3D object models, approach to recognize partially occluded objects, etc. Novel techniques are introduced to improve 3D perception accuracy with other sensors such as a gyroscope, positioning accuracy with a visual servoing based alignment strategy for microassembly, and increasing object recognition reliability using related manipulation motion models. For autonomous robot navigation, different vision-based localization and tracking strategies and algorithms are discussed. New approaches using probabilistic analysis for robot navigation, online learning of vision-based robot control, and 3D motion estimation via intensity differences from a monocular camera are described. This collection will be beneficial to graduate students, researchers, and professionals working in the area of robotic vision.
Author: Garcia-Rodriguez, Jose
Publisher: IGI Global
ISBN: 1466627034
Category : Technology & Engineering
Languages : en
Pages : 535
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Book Description
Robotic systems consist of object or scene recognition, vision-based motion control, vision-based mapping, and dense range sensing, and are used for identification and navigation. As these computer vision and robotic connections continue to develop, the benefits of vision technology including savings, improved quality, reliability, safety, and productivity are revealed. Robotic Vision: Technologies for Machine Learning and Vision Applications is a comprehensive collection which highlights a solid framework for understanding existing work and planning future research. This book includes current research on the fields of robotics, machine vision, image processing and pattern recognition that is important to applying machine vision methods in the real world.
Author: Stefan Florczyk
Publisher: John Wiley & Sons
ISBN: 352760491X
Category : Technology & Engineering
Languages : en
Pages : 216
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Book Description
The book is intended for advanced students in physics, mathematics, computer science, electrical engineering, robotics, engine engineering and for specialists in computer vision and robotics on the techniques for the development of vision-based robot projects. It focusses on autonomous and mobile service robots for indoor work, and teaches the techniques for the development of vision-based robot projects. A basic knowledge of informatics is assumed, but the basic introduction helps to adjust the knowledge of the reader accordingly. A practical treatment of the material enables a comprehensive understanding of how to handle specific problems, such as inhomogeneous illumination or occlusion. With this book, the reader should be able to develop object-oriented programs and show mathematical basic understanding. Such topics as image processing, navigation, camera types and camera calibration structure the described steps of developing further applications of vision-based robot projects.
Author: Peter Sturm
Publisher: Now Publishers Inc
ISBN: 1601984103
Category : Computers
Languages : en
Pages : 194
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Book Description
Camera Models and Fundamental Concepts Used in Geometric Computer Vision surveys the image acquisition methods used in computer vision and especially, of the vast number of camera models that have been proposed and investigated over the years, and points out similarities between different models.
Author: Jason Mooberry
Publisher:
ISBN:
Category : Mobile robots
Languages : en
Pages : 68
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Book Description
"Mobile robotics is an active and exciting sub-field of Computer Science. Its importance is easily witnessed in a variety of undertakings from DARPA's Grand Challenge to NASA's Mars exploration program. The field is relatively young, and still many challenges face roboticists across the boards. One important area of research is localization, which concerns itself with granting a robot the ability to discover and continually update an internal representation of its position. Vision based sensor systems have been investigated, but to much lesser extent than other popular techniques. A custom mobile platform has been constructed on top of which a monocular vision based localization system has been implemented. The rigorous gathering of empirical data across a large group of parameters germane to the problem has led to various findings about monocular vision based localization and the fitness of the custom robot platform. The localization component is based on a probabilistic technique called Monte-Carlo Localization (MCL) that tolerates a variety of different sensors and effectors, and has further proven to be adept at localization in diverse circumstances. Both a motion model and sensor model that drive the particle filter at the algorithm's core have been carefully derived. The sensor model employs a simple correlation process that leverages color histograms and edge detection to filter robot pose estimations via the on board vision. This algorithm relies on image matching to tune position estimates based on a priori knowledge of its environment in the form of a feature library. It is believed that leveraging different computationally inexpensive features can lead to efficient and robust localization with MCL. The central goal of this thesis is to implement and arrive at such a conclusion through the gathering of empirical data. Section 1 presents a brief introduction to mobile robot localization and robot architectures, while section 2 covers MCL itself in more depth. Section 3 elaborates on the localization strategy, modeling and implementation that forms the basis of the trials that are presented toward the end of that section. Section 4 presents a revised implementation that attempts to address shortcomings identified during localization trials. Finally in section 5, conclusions are drawn about the effectiveness of the localization implementation and a path to improved localization with monocular vision is posited"--Abstract.
Author: Danica Kragic
Publisher: Springer Science & Business Media
ISBN: 0387755233
Category : Computers
Languages : en
Pages : 215
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Book Description
Assembled in this volume is a collection of some of the state-of-the-art methods that are using computer vision and machine learning techniques as applied in robotic applications. Currently there is a gap between research conducted in the computer vision and robotics communities. This volume discusses contrasting viewpoints of computer vision vs. robotics, and provides current and future challenges discussed from a research perspective.
