scholarly journals Mobile Robot Self-Localization Using Omnidirectional Vision with Feature Matching from Real and Virtual Spaces

2021 ◽  
Vol 11 (8) ◽  
pp. 3360
Author(s):  
Huei-Yung Lin ◽  
Chien-Hsing He
Keyword(s):  
Mobile Robot ◽  
Real World ◽  
Feature Matching ◽  
Vision System ◽  
Virtual Space ◽  
Image Feature ◽  
Omnidirectional Vision ◽  
Projection Model ◽  
Localization Technique ◽  
The Real

This paper presents a novel self-localization technique for mobile robots based on image feature matching from omnidirectional vision. The proposed method first constructs a virtual space with synthetic omnidirectional imaging to simulate a mobile robot equipped with an omnidirectional vision system in the real world. In the virtual space, a number of vertical and horizontal lines are generated according to the structure of the environment. They are imaged by the virtual omnidirectional camera using the catadioptric projection model. The omnidirectional images derived from the virtual and real environments are then used to match the synthetic lines and real scene edges. Finally, the pose and trajectory of the mobile robot in the real world are estimated by the efficient perspective-n-point (EPnP) algorithm based on the line feature matching. In our experiments, the effectiveness of the proposed self-localization technique was validated by the navigation of a mobile robot in a real world environment.

scholarly journals 0494 Sleep In The Real World: A Computer Vision System To Passively Monitor Sleep And Sleep Disorders On A Continuous Basis

SLEEP ◽  
2018 ◽  
Vol 41 (suppl_1) ◽  
pp. A186-A186
Author(s):  
L Schneider ◽  
D Janssens ◽  
P Silberschatz ◽  
A Londeree ◽  
E Shapiro
Keyword(s):  
Computer Vision ◽  
Sleep Disorders ◽  
Real World ◽  
Vision System ◽  
Computer Vision System ◽  
The Real ◽  
Continuous Basis

Optimal path planning of mobile robot using the hybrid cuckoo–bat algorithm in assorted environment

2019 ◽  
Vol 7 (1) ◽  
pp. 35-52 ◽  
Author(s):  
Balamurali Gunji ◽  
Deepak B.B.V.L. ◽  
Saraswathi M.B.L. ◽  
Umamaheswara Rao Mogili
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Real World ◽  
Hybrid Algorithm ◽  
Optimal Path ◽  
Bat Algorithm ◽  
Cuckoo Search ◽  
Content Type ◽  
The Real ◽  
World Environment

Purpose The purpose of this paper is to obtain an optimal mobile robot path planning by the hybrid algorithm, which is developed by two nature inspired meta-heuristic algorithms, namely, cuckoo-search and bat algorithm (BA) in an unknown or partially known environment. The cuckoo-search algorithm is based on the parasitic behavior of the cuckoo, and the BA is based on the echolocation behavior of the bats. Design/methodology/approach The developed algorithm starts by sensing the obstacles in the environment using ultrasonic sensor. If there are any obstacles in the path, the authors apply the developed algorithm to find the optimal path otherwise reach the target point directly through diagonal distance. Findings The developed algorithm is implemented in MATLAB for the simulation to test the efficiency of the algorithm for different environments. The same path is considered to implement the experiment in the real-world environment. The ARDUINO microcontroller along with the ultrasonic sensor is considered to obtain the path length and time of travel of the robot to reach the goal point. Originality/value In this paper, a new hybrid algorithm has been developed to find the optimal path of the mobile robot using cuckoo search and BAs. The developed algorithm is tested with the real-world environment using the mobile robot.

Practical Education Curriculum for Autonomous Mobile Robot (Project Learning Program for School Based on Subsumption Architecture)

2011 ◽  
Vol 23 (5) ◽  
pp. 684-700 ◽  
Author(s):  
Yoshihiko Kawazoe ◽  
◽  
Masaki Mitsuoka ◽  
Sho Masada
Keyword(s):  
Mobile Robot ◽  
Real World ◽  
Strong Nonlinearity ◽  
Autonomous Mobile Robot ◽  
Learning Program ◽  
Subsumption Architecture ◽  
The Real ◽  
Emotional Appeal ◽  
School Based ◽  
Autonomous Machine

There are presently no robots around us in our society if we define a robot as an autonomous machine working in the arena of offices, homes, disaster sites, etc., not in factories. Mechatronics, dynamics, and robotics involving humans are a world of strong nonlinearity. This paper investigates the approach to the emergence of the target behavior of an autonomous mobile robot by learning with Subsumption Architecture (SA) to break through the problems of the conventional robotics with the SMPA (Sense-Model-Plan-Act) framework in the real world. It has showed the way things are learned in the real world with SA and has been developed into a practical curriculum for education as an introduction to robotics that has an intellectual and emotional appeal.

scholarly journals The Net Generation’s Stories: A Typology

2020 ◽  
pp. 125-183
Author(s):  
Christina Schachtner
Keyword(s):  
Real World ◽  
Empirical Data ◽  
Virtual Space ◽  
The Real ◽  
The Past ◽  
Specific Focus ◽  
The Future

Abstract In this chapter, the empirical data are presented as a typology of narratives in which experiences and activities in virtual space and the real world are interwoven, along with ideas and wishes for the future, what has happened in the past, and what is happening in the present. They run like a subterranean web through the narrators’ lives, initiating patterns of thinking and doing which revolve around a specific focus. The following types of narrations were identified: stories about interconnectedness, self-staging, supplying and selling, managing boundaries, and transformation, as well as setting out and breaking away.

scholarly journals E-BOT PLATAFORMA ROBÓTICA DE APOYO EN LA ENSEÑANZA DE ALGORITMOS Y PROGRAMACIÓN

2021 ◽  
Vol 8 (16) ◽  
pp. 65-76
Author(s):  
JEFFERSON GÚTIERREZ ◽  
◽  
NICOLAS CALDERON ◽  
JOSE FRANCO
Keyword(s):  
Mobile Robot ◽  
Real World ◽  
Correct Operation ◽  
Support Tool ◽  
The Real ◽  
Design And Construction

This article presents the design and construction of a mobile robot (E-BOT) both in the hardware and in the software part, which works as a support tool for teaching processes and allows to consolidate learning in related topics. a Programming having as its scope repetitive structures, this through a series of previously constructed learning elements. E-BOT has a series of actuators (Led, oled, servomotor, motors) and sensors (ultrasound and reflective light) which are controlled by means of Arduino that allow an easy interaction of EBOT with the real world. Additionally, the construction of a verification software is carried out that allows us to validate the correct operation of all the modules built.

FPGA-Based Stereo Vision System Using Gradient Feature Correspondence

2015 ◽  
Vol 27 (6) ◽  
pp. 681-690 ◽  
Author(s):  
Hayato Hagiwara ◽  
◽  
Yasufumi Touma ◽  
Kenichi Asami ◽  
Mochimitsu Komori
Keyword(s):  
Mobile Robot ◽  
Stereo Vision ◽  
Vision System ◽  
Image Feature ◽  
Interest Point ◽  
Feature Correspondence ◽  
Speeded Up Robust Features ◽  
Stereo Vision System ◽  
Simpler Algorithm ◽  
Gradient Feature

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270006/10.jpg"" width=""300"" /> Mobile robot with a stereo vision</div>This paper describes an autonomous mobile robot stereo vision system that uses gradient feature correspondence and local image feature computation on a field programmable gate array (FPGA). Among several studies on interest point detectors and descriptors for having a mobile robot navigate are the Harris operator and scale-invariant feature transform (SIFT). Most of these require heavy computation, however, and using them may burden some computers. Our purpose here is to present an interest point detector and a descriptor suitable for FPGA implementation. Results show that a detector using gradient variance inspection performs faster than SIFT or speeded-up robust features (SURF), and is more robust against illumination changes than any other method compared in this study. A descriptor with a hierarchical gradient structure has a simpler algorithm than SIFT and SURF descriptors, and the result of stereo matching achieves better performance than SIFT or SURF.

Development of Autonomous Mobile Robot that Can Navigate in Rainy Situations

2016 ◽  
Vol 28 (4) ◽  
pp. 441-450 ◽  
Author(s):  
Naoki Akai ◽  
◽  
Yasunari Kakigi ◽  
Shogo Yoneyama ◽  
Koichi Ozaki ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Real World ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Navigation Systems ◽  
Autonomous Mobile Robot ◽  
Technical Challenge ◽  
The Real ◽  
Mobile Navigation ◽  
Unexpected Behavior

[abstFig src='/00280004/02.jpg' width='300' text='Navigation under strong rainy condition' ] The Real World Robot Challenge (RWRC), a technical challenge for mobile outdoor robots, has robots automatically navigate a predetermined path over 1 km with the objective of detecting specific persons. RWRC 2015 was conducted in the rain and every robot could not complete the mission. This was because sensors on the robots detected raindrops and the robots then generated unexpected behavior, indicating the need to study the influence of rain on mobile navigation systems – a study clearly not yet sufficient. We begin by describing our robot’s waterproofing function, followed by investigating the influence of rain on the external sensors commonly used in mobile robot navigation and discuss how the robot navigates autonomous in the rain. We conducted navigation experiments in artificial and actual rainy environments and those results showed that the robot navigates stably in the rain.

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