32,056 research outputs found
Fast, Accurate Thin-Structure Obstacle Detection for Autonomous Mobile Robots
Safety is paramount for mobile robotic platforms such as self-driving cars
and unmanned aerial vehicles. This work is devoted to a task that is
indispensable for safety yet was largely overlooked in the past -- detecting
obstacles that are of very thin structures, such as wires, cables and tree
branches. This is a challenging problem, as thin objects can be problematic for
active sensors such as lidar and sonar and even for stereo cameras. In this
work, we propose to use video sequences for thin obstacle detection. We
represent obstacles with edges in the video frames, and reconstruct them in 3D
using efficient edge-based visual odometry techniques. We provide both a
monocular camera solution and a stereo camera solution. The former incorporates
Inertial Measurement Unit (IMU) data to solve scale ambiguity, while the latter
enjoys a novel, purely vision-based solution. Experiments demonstrated that the
proposed methods are fast and able to detect thin obstacles robustly and
accurately under various conditions.Comment: Appeared at IEEE CVPR 2017 Workshop on Embedded Visio
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A conceptual design tool: Sketch and fuzzy logic based system
A real time sketch and fuzzy logic based prototype system for conceptual design has been developed. This system comprises four phases. In the first one, the system accepts the input of on-line free-hand sketches, and segments them into meaningful parts by using fuzzy knowledge to detect corners and inflection points on the sketched curves. The fuzzy knowledge is applied to capture userâs drawing intention in terms of sketching position, direction, speed and acceleration. During the second phase, each segmented sub-part (curve) can be classified and identified as one of the following 2D primitives: straight lines, circles, circular arcs, ellipses, elliptical arcs or B-spline curves. Then, 2D topology information (connectivity, unitary constraints and pairwise constraints) is extracted dynamically from the identified 2D primitives. From the extracted information, a more accurate 2D geometry can be built up by a 2D geometric constraint solver. The 2D topology and geometry information is then employed to further interpretation of a 3D geometry. The system can not only accept sketched input, but also usersâ interactive input of 2D and 3D primitives.
This makes it friendly and easier to use, in comparison with âsketched input onlyâ, or âinteractive input onlyâ systems.
Finally, examples are given to illustrate the system
Absolute electrical impedance tomography (aEIT) guided ventilation therapy in critical care patients: simulations and future trends
Thoracic electrical impedance tomography (EIT) is a noninvasive, radiation-free monitoring technique whose aim is to reconstruct a cross-sectional image of the internal spatial distribution of conductivity from electrical measurements made by injecting small alternating currents via an electrode array placed on the surface of the thorax. The purpose of this paper is to discuss the fundamentals of EIT and demonstrate the principles of mechanical ventilation, lung recruitment, and EIT imaging on a comprehensive physiological model, which combines a model of respiratory mechanics, a model of the human lung absolute resistivity as a function of air content, and a 2-D finite-element mesh of the thorax to simulate EIT image reconstruction during mechanical ventilation. The overall model gives a good understanding of respiratory physiology and EIT monitoring techniques in mechanically ventilated patients. The model proposed here was able to reproduce consistent images of ventilation distribution in simulated acutely injured and collapsed lung conditions. A new advisory system architecture integrating a previously developed data-driven physiological model for continuous and noninvasive predictions of blood gas parameters with the regional lung function data/information generated from absolute EIT (aEIT) is proposed for monitoring and ventilator therapy management of critical care patients
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
Calibration and Sensitivity Analysis of a Stereo Vision-Based Driver Assistance System
Az http://intechweb.org/ alatti "Books" fĂŒl alatt kell rĂĄkeresni a "Stereo Vision" cĂmre Ă©s az 1. fejezetre
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