In this paper we present an approach for using vision as the primary source of sensing to guide a mobile robot in an unknown environment. We define a set of primitive visual behaviours for navigating a mobile robot in realtime. By combining such behaviours with a purposive map, our mobile robot exhibits a goal seeking behaviour. We present a fast segmentation technique for vision processing. Th...

The intelligence of a mobile robot is highly dependent on its vision. The main objective of an intelligent mobile robot is in its ability to the online image processing, object detection, and especially visual tracking which is a complex task in stochastic environments. Tracking algorithms suffer from sequence challenges such as illumination variation, occlusion, and background clutter, so an a...

Deep learning has allowed a paradigm shift in pattern recognition, from using hand-crafted features together with statistical classifiers to using general-purpose learning procedures for learning data-driven representations, features, and classifiers together. The application of this new paradigm has been particularly successful in computer vision, in which the development of deep learning meth...

This paper proposes a vision-based line following controller for a differential-drive mobile robot. First, a kinematic model of the robot suitable for path following applications is derived. A feedback control, which achieves local asymptotic stability of the nonlinear closed-loop system is designed and analysed. A camera model and the perspective point transformations are given. A line detecti...

FIRA robot soccer is strongly affected by the central vision system because of the head mounted camera. A single camera implies a central image processing system, which conflicts with the demands on autonomous acting of the individual robots. Even so this approach will continue to be used in the near future due to the limitations of the robot hardware. This paper presents a flexible and robust ...

This paper describes the development of a chess-playing robot called MarineBlue. This robot consists of three components: a computer vision component to recognize chess board situations, a chess engine component to compute new moves and a robot control component to execute these moves by means of a robot arm. In the paper, we focus on the algorithms that have been used to implement the computer...

We describe a robotic system composed of a manipulator and two cameras. We use the vision system to guide the robot hand to a visible target. The camera positions are known only approximately. Our system does not use the details of the kinematics of the manipulator. There is no common frame of reference linking vision system, workspace and robot hand. The stereo vision system gives information ...

This paper deals with a planning problem for a mobile robot to reach a goal quickly and safely under uncertainty of vision and motion. If a robot moves to the goal using only dead reckoning, the positional error may increase by the motion uncertainty. The error can be reduced by visual information. But the vision also includes uncertainty caused by the pixel quantization. It also takes consider...

This paper describes methods pertaining to the vision-guided robotic control of fabric motion for performing simulated joining operations for apparel manufacturing. The determination of robot motion paths is based on visual information defining the position of the fabric edges in world coordinates. The usefulness of the shape analysis and motion control algorithms is demonstrated via experiment...

Vision algorithms for robot control are usually context dependent. A state based vision controller can provide both the computational and temporal context for the algorithm. A hierarchical layering enables one or more subobjectives to be selected. To mimic human behaviour, it is argued that using fuzzy logic is better able to manage the subjective data obtained from images. Fuzzy reasoning is u...