25,580 research outputs found

    A Portable Active Binocular Robot Vision Architecture for Scene Exploration

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    We present a portable active binocular robot vision archi- tecture that integrates a number of visual behaviours. This vision archi- tecture inherits the abilities of vergence, localisation, recognition and si- multaneous identification of multiple target object instances. To demon- strate the portability of our vision architecture, we carry out qualitative and comparative analysis under two different hardware robotic settings, feature extraction techniques and viewpoints. Our portable active binoc- ular robot vision architecture achieved average recognition rates of 93.5% for fronto-parallel viewpoints and, 83% percentage for anthropomorphic viewpoints, respectively

    Software System Understanding via Architectural Views Extraction According to Multiple Viewpoints

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    International audienceChanges and evolution of software systems constantly gener- ate new challenges for the recovery of software systems architectures. A system's architecture, together with its elements and the way they inter- act, constitute valuable assets for understanding the system. We believe that offering multiple architectural views of a given system, using domain and pattern knowledge enhance understanding of the software system as a whole. To correlate different sources of information and existing soft- ware system, different viewpoints are considered. Viewpoints enable one to model such information and guide the extraction algorithms to ex- tract multiple architectural views. We propose a recursive framework, an approach that expresses different kinds of information as viewpoints to guide the extraction process. These multiple viewpoints models al- low considering architectural, conceptual, and structural aspects of the system

    Supporting 'design for reuse' with modular design

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    Engineering design reuse refers to the utilization of any knowledge gained from the design activity to support future design. As such, engineering design reuse approaches are concerned with the support, exploration, and enhancement of design knowledge prior, during, and after a design activity. Modular design is a product structuring principle whereby products are developed with distinct modules for rapid product development, efficient upgrades, and possible reuse (of the physical modules). The benefits of modular design center on a greater capacity for structuring component parts to better manage the relation between market requirements and the designed product. This study explores the capabilities of modular design principles to provide improved support for the engineering design reuse concept. The correlations between modular design and 'reuse' are highlighted, with the aim of identifying its potential to aid the little-supported process of design for reuse. In fulfilment of this objective the authors not only identify the requirements of design for reuse, but also propose how modular design principles can be extended to support design for reuse

    Monocular SLAM Supported Object Recognition

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    In this work, we develop a monocular SLAM-aware object recognition system that is able to achieve considerably stronger recognition performance, as compared to classical object recognition systems that function on a frame-by-frame basis. By incorporating several key ideas including multi-view object proposals and efficient feature encoding methods, our proposed system is able to detect and robustly recognize objects in its environment using a single RGB camera in near-constant time. Through experiments, we illustrate the utility of using such a system to effectively detect and recognize objects, incorporating multiple object viewpoint detections into a unified prediction hypothesis. The performance of the proposed recognition system is evaluated on the UW RGB-D Dataset, showing strong recognition performance and scalable run-time performance compared to current state-of-the-art recognition systems.Comment: Accepted to appear at Robotics: Science and Systems 2015, Rome, Ital
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