Cloud-based Real-time Outsourcing Localization for a Ground Mobile Robot in Large-scale Outdoor Environments

2017 ◽  
Vol 34 (7) ◽  
pp. 1313-1331 ◽  
Author(s):  
Xiaorui Zhu ◽  
Chunxin Qiu ◽  
Fucheng Deng ◽  
Su Pang ◽  
Yongsheng Ou
Sensors ◽  
2019 ◽  
Vol 19 (12) ◽  
pp. 2771 ◽  
Author(s):  
Simona Caraiman ◽  
Otilia Zvoristeanu ◽  
Adrian Burlacu ◽  
Paul Herghelegiu

The development of computer vision based systems dedicated to help visually impaired people to perceive the environment, to orientate and navigate has been the main research subject of many works in the recent years. A significant ensemble of resources has been employed to support the development of sensory substitution devices (SSDs) and electronic travel aids for the rehabilitation of the visually impaired. The Sound of Vision (SoV) project used a comprehensive approach to develop such an SSD, tackling all the challenging aspects that so far restrained the large scale adoption of such systems by the intended audience: Wearability, real-time operation, pervasiveness, usability, cost. This article is set to present the artificial vision based component of the SoV SSD that performs the scene reconstruction and segmentation in outdoor environments. In contrast with the indoor use case, where the system acquires depth input from a structured light camera, in outdoors SoV relies on stereo vision to detect the elements of interest and provide an audio and/or haptic representation of the environment to the user. Our stereo-based method is designed to work with wearable acquisition devices and still provide a real-time, reliable description of the scene in the context of unreliable depth input from the stereo correspondence and of the complex 6 DOF motion of the head-worn camera. We quantitatively evaluate our approach on a custom benchmarking dataset acquired with SoV cameras and provide the highlights of the usability evaluation with visually impaired users.


2014 ◽  
Vol 2014 ◽  
pp. 1-12
Author(s):  
Wei Song ◽  
Seoungjae Cho ◽  
Yulong Xi ◽  
Kyungeun Cho ◽  
Kyhyun Um

A mobile robot mounted with multiple sensors is used to rapidly collect 3D point clouds and video images so as to allow accurate terrain modeling. In this study, we develop a real-time terrain storage generation and representation system including a nonground point database (PDB), ground mesh database (MDB), and texture database (TDB). A voxel-based flag map is proposed for incrementally registering large-scale point clouds in a terrain model in real time. We quantize the 3D point clouds into 3D grids of the flag map as a comparative table in order to remove the redundant points. We integrate the large-scale 3D point clouds into a nonground PDB and a node-based terrain mesh using the CPU. Subsequently, we program a graphics processing unit (GPU) to generate the TDB by mapping the triangles in the terrain mesh onto the captured video images. Finally, we produce a nonground voxel map and a ground textured mesh as a terrain reconstruction result. Our proposed methods were tested in an outdoor environment. Our results show that the proposed system was able to rapidly generate terrain storage and provide high resolution terrain representation for mobile mapping services and a graphical user interface between remote operators and mobile robots.


2007 ◽  
Vol 73 (12) ◽  
pp. 1369-1374
Author(s):  
Hiromi SATO ◽  
Yuichiro MORIKUNI ◽  
Kiyotaka KATO

2018 ◽  
Vol 68 (12) ◽  
pp. 2857-2859
Author(s):  
Cristina Mihaela Ghiciuc ◽  
Andreea Silvana Szalontay ◽  
Luminita Radulescu ◽  
Sebastian Cozma ◽  
Catalina Elena Lupusoru ◽  
...  

There is an increasing interest in the analysis of salivary biomarkers for medical practice. The objective of this article was to identify the specificity and sensitivity of quantification methods used in biosensors or portable devices for the determination of salivary cortisol and salivary a-amylase. There are no biosensors and portable devices for salivary amylase and cortisol that are used on a large scale in clinical studies. These devices would be useful in assessing more real-time psychological research in the future.


1990 ◽  
Vol 2 (1) ◽  
pp. 35 ◽  
Author(s):  
R.A. Lotufo ◽  
A.D. Morgan ◽  
E.L. Dagless ◽  
D.J. Milford ◽  
J.F. Morrissey ◽  
...  

2020 ◽  
Vol 34 (10) ◽  
pp. 13849-13850
Author(s):  
Donghyeon Lee ◽  
Man-Je Kim ◽  
Chang Wook Ahn

In a real-time strategy (RTS) game, StarCraft II, players need to know the consequences before making a decision in combat. We propose a combat outcome predictor which utilizes terrain information as well as squad information. For training the model, we generated a StarCraft II combat dataset by simulating diverse and large-scale combat situations. The overall accuracy of our model was 89.7%. Our predictor can be integrated into the artificial intelligence agent for RTS games as a short-term decision-making module.


Author(s):  
Paul Oehlmann ◽  
Paul Osswald ◽  
Juan Camilo Blanco ◽  
Martin Friedrich ◽  
Dominik Rietzel ◽  
...  

AbstractWith industries pushing towards digitalized production, adaption to expectations and increasing requirements for modern applications, has brought additive manufacturing (AM) to the forefront of Industry 4.0. In fact, AM is a main accelerator for digital production with its possibilities in structural design, such as topology optimization, production flexibility, customization, product development, to name a few. Fused Filament Fabrication (FFF) is a widespread and practical tool for rapid prototyping that also demonstrates the importance of AM technologies through its accessibility to the general public by creating cost effective desktop solutions. An increasing integration of systems in an intelligent production environment also enables the generation of large-scale data to be used for process monitoring and process control. Deep learning as a form of artificial intelligence (AI) and more specifically, a method of machine learning (ML) is ideal for handling big data. This study uses a trained artificial neural network (ANN) model as a digital shadow to predict the force within the nozzle of an FFF printer using filament speed and nozzle temperatures as input data. After the ANN model was tested using data from a theoretical model it was implemented to predict the behavior using real-time printer data. For this purpose, an FFF printer was equipped with sensors that collect real time printer data during the printing process. The ANN model reflected the kinematics of melting and flow predicted by models currently available for various speeds of printing. The model allows for a deeper understanding of the influencing process parameters which ultimately results in the determination of the optimum combination of process speed and print quality.


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