22,797 research outputs found
RANCANG BANGUN SISTEM MOBILE ROBOT PENDETEKSI OBJEK BERBASIS RASPBERRY PI B+
Design of Mobile Robot System Based Object Detection Raspberry PI B + is design an intelligent robot that can follow an object without the need to connect to the device because the computer has a core that can help process the data directly. This robot can follow objects with the aid of a camera that is integrated with a module Raspberry PI, this robot also uses Arduino UNO as a data processor in the driving sectors and the sensor, the sensor used is Gyro and Accelerometer sensor that serves to stabilize the robot. The working principle of the device is a camera that terpasangpada module Raspi will capture objects that have been programmed, then the data from the camera is transmitted to the module Arduino that will make the servo go forward so it can reach the object, when the camera detects an object, the transmitter and receiver on Raspi and Arduino will each transmits data that has output of 5V
Keywords: Raspberry PI B +, Arduino UNO, Camera Raspberry PI, Gyro and Accelerometer Sensor, Servo, Mobile Robo
Visual Localization and Mapping in Dynamic and Changing Environments
The real-world deployment of fully autonomous mobile robots depends on a
robust SLAM (Simultaneous Localization and Mapping) system, capable of handling
dynamic environments, where objects are moving in front of the robot, and
changing environments, where objects are moved or replaced after the robot has
already mapped the scene. This paper presents Changing-SLAM, a method for
robust Visual SLAM in both dynamic and changing environments. This is achieved
by using a Bayesian filter combined with a long-term data association
algorithm. Also, it employs an efficient algorithm for dynamic keypoints
filtering based on object detection that correctly identify features inside the
bounding box that are not dynamic, preventing a depletion of features that
could cause lost tracks. Furthermore, a new dataset was developed with RGB-D
data especially designed for the evaluation of changing environments on an
object level, called PUC-USP dataset. Six sequences were created using a mobile
robot, an RGB-D camera and a motion capture system. The sequences were designed
to capture different scenarios that could lead to a tracking failure or a map
corruption. To the best of our knowledge, Changing-SLAM is the first Visual
SLAM system that is robust to both dynamic and changing environments, not
assuming a given camera pose or a known map, being also able to operate in real
time. The proposed method was evaluated using benchmark datasets and compared
with other state-of-the-art methods, proving to be highly accurate.Comment: 14 pages, 13 figure
Under vehicle perception for high level safety measures using a catadioptric camera system
In recent years, under vehicle surveillance and the classification of the vehicles become an indispensable task that must be achieved for security measures in certain areas such as shopping centers, government buildings, army camps etc. The main challenge to achieve this task is to monitor the under
frames of the means of transportations. In this paper, we present a novel solution to achieve this aim. Our solution consists of three main parts: monitoring, detection and classification. In the first part we design a new catadioptric camera system in which the perspective camera points downwards to the catadioptric mirror mounted to the body of a mobile robot. Thanks to the
catadioptric mirror the scenes against the camera optical axis direction can be viewed. In the second part we use speeded up robust features (SURF) in an object recognition algorithm. Fast appearance based mapping algorithm (FAB-MAP) is exploited for the classification of the means of transportations in the third
part. Proposed technique is implemented in a laboratory environment
Gesture Recognition Aplication based on Dynamic Time Warping (DTW) FOR Omni-Wheel Mobile Robot
This project presents of the movement of omni-wheel robot moves in the trajectory obtained from the gesture recognition system based on Dynamic Time Warping. Single camera is used as the input of the system, which is also a reference to the movement of the omni-wheel robot. Some
systems for gesture recognition have been developed using various methods and different approaches. The movement of the omni-wheel robot using the method of Dynamic Time Wrapping (DTW) which has the advantage able to calculate the distance of two data vectors with different lengths. By using this method we can measure the similarity between two sequences at different times and speeds. Dynamic Time
Warping to compare the two parameters at varying times and speeds. Application of DTW widely applied in video, audio, graphics, etc. Due to data that can be changed in a linear manner so that it can be analyzed with DTW. In short can find the most suitable value by minimizing the difference between two multidimensional signals that have been compressed. DTW method is expected to gesture recognition
system to work optimally, have a high enough value of accuracy and processing time is realtime
A Lens-Calibrated Active Marker Metrology System
This paper presents a prototypical marker tracking system, MT, which is capable of recording multiple mobile robot trajectories in parallel for offline analysis. The system is also capable of providing trajectory data in realtime to agents (such as robots in an arena) and implements several multi-agent operators to simplify agent-based perception. The latter characteristic provides an ability to minimise the normally expensive process of implementing agent-centric perceptual mechanisms and provides a means for multiagent "global knowledge" (Parker 1993)
Human-Machine Interface for Remote Training of Robot Tasks
Regardless of their industrial or research application, the streamlining of
robot operations is limited by the proximity of experienced users to the actual
hardware. Be it massive open online robotics courses, crowd-sourcing of robot
task training, or remote research on massive robot farms for machine learning,
the need to create an apt remote Human-Machine Interface is quite prevalent.
The paper at hand proposes a novel solution to the programming/training of
remote robots employing an intuitive and accurate user-interface which offers
all the benefits of working with real robots without imposing delays and
inefficiency. The system includes: a vision-based 3D hand detection and gesture
recognition subsystem, a simulated digital twin of a robot as visual feedback,
and the "remote" robot learning/executing trajectories using dynamic motion
primitives. Our results indicate that the system is a promising solution to the
problem of remote training of robot tasks.Comment: Accepted in IEEE International Conference on Imaging Systems and
Techniques - IST201
- …