Simultaneous localization and map-building using active vision

An active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated Simultaneous Localization and Map-Building (SLAM) to be implemented with vision, permitting repeatable long-term localization using only naturally occurring, automatically-detected features. In this paper, we present the first example of a general system for autonomous localization using active vision, enabled here by a high-performance stereo head, addressing such issues as uncertainty-based measurement selection, automatic map-maintenance, and goal-directed steering. We present varied real-time experiments in a complex environment.Published versio

Design and Development of Personal GeoServices for Universities

Personal GeoServices are emerging as an interaction paradigm linking users to information rich environments like a university campus or to Big Data sources like the Internet of Things by delivering spatially intelligent web-services. OpenStreetMap (OSM) constitutes a valuable source of spatial base-data that can be extracted, integrated, and utilised with such heterogeneous data sources for free. In this paper, we present a Personal GeoServices application built on OSM spatial data and university-specific business data for staff, faculty, and students. While generic products such as Google Maps and Google Earth enable basic forms of spatial exploration, the domain of a university campus presents specific business information needs, such as “What classes are scheduled in that room over there?” and “How can I get to Prof. Murray’s office from here?” Within the framework of the StratAG project (www.StratAG.ie), an eCampus Demonstrator was developed for the National University of Ireland Maynooth (NUIM) to assist university users in exploring and analysing their surroundings within a detailed data environment. This work describes this system in detail, discussing the usage of OSM vector data, and providing insights for developers of spatial information systems for personalised visual exploration of an area

Freeform User Interfaces for Graphical Computing

報告番号: 甲15222 ; 学位授与年月日: 2000-03-29 ; 学位の種別: 課程博士 ; 学位の種類: 博士(工学) ; 学位記番号: 博工第4717号 ; 研究科・専攻: 工学系研究科情報工学専

State of the art review on walking support system for visually impaired people

The technology for terrain detection and walking support system for blind people has rapidly been improved the last couple of decades but to assist visually impaired people may have started long ago. Currently, a variety of portable or wearable navigation system is available in the market to help the blind for navigating their way in his local or remote area. The focused category in this work can be subgroups as electronic travel aids (ETAs), electronic orientation aids (EOAs) and position locator devices (PLDs). However, we will focus mainly on electronic travel aids (ETAs). This paper presents a comparative survey among the various portable or wearable walking support systems as well as informative description (a subcategory of ETAs or early stages of ETAs) with its working principal advantages and disadvantages so that the researchers can easily get the current stage of assisting blind technology along with the requirement for optimising the design of walking support system for its users

Mobile Robots Navigation

Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described

Interactive visual exploration of a large spatio-temporal dataset: Reflections on a geovisualization mashup

Exploratory visual analysis is useful for the preliminary investigation of large structured, multifaceted spatio-temporal datasets. This process requires the selection and aggregation of records by time, space and attribute, the ability to transform data and the flexibility to apply appropriate visual encodings and interactions. We propose an approach inspired by geographical 'mashups' in which freely-available functionality and data are loosely but flexibly combined using de facto exchange standards. Our case study combines MySQL, PHP and the LandSerf GIS to allow Google Earth to be used for visual synthesis and interaction with encodings described in KML. This approach is applied to the exploration of a log of 1.42 million requests made of a mobile directory service. Novel combinations of interaction and visual encoding are developed including spatial 'tag clouds', 'tag maps', 'data dials' and multi-scale density surfaces. Four aspects of the approach are informally evaluated: the visual encodings employed, their success in the visual exploration of the clataset, the specific tools used and the 'rnashup' approach. Preliminary findings will be beneficial to others considering using mashups for visualization. The specific techniques developed may be more widely applied to offer insights into the structure of multifarious spatio-temporal data of the type explored here