Techniques are proposed to support the video based development of systems for indoor exploration with mobile robots. The technique of redundant programming is often used to improve the reliability of operating systems, but the use of this technique is not common for CV (computer vision) applications. Also a new technique to create CAD (computer aided design) models from image data is described....

Human beings can easily use eyes to guide arms and hands to reach any particular pose. We have been trying to make robot imitate such intelligent behavior that is called as robotic hand-eye coordination. In this paper we report our research work on vision guided homing for humanoid service robot JINGANG which has active stereo vision and two modular arms. The work is based on the 3D vision reco...

Problem statement: The traditional approaches in mobile robot research are the use of stereo vision systems to extract range information from pairs of images. One of the difficulties of techniques in navigation is that the intrinsic computational expense of extracting three dimensional information from stereo pairs of images. Approach: To compare performance sensor readings from environment bet...

R ecent advances in vision algorithms and increases in computer performance have made new capabilities available in autonomous robotics for real-time applications. In general, computer-vision-based solutions to robotics problems employ a high-level system architecture that makes use of low-level processing blocks. While the high-level system architecture is still an active area of research, man...

We are currently engaged in advancing research in human-robot cooperation with the goal of realizing service robots in homes and offices. In order to assist humans, robots must correctly identify the tasks that humans intend to perform, and then devise strategies to perform those tasks. To accomplish this, we first define the framework of a task model for assisting a human's work. The robot the...

This paper explores a methodology of knowledge propagation between the Omnidirectional Visual Agents of a Distributed Vision System. The application we chose in this work is to navigate a mobile robot in a real-world environment using a network of uncalibrated cameras. A practical application could be to use an existing camera network intended for surveillance for navigating a service robot in ...

This paper presents the use of a hybrid collaborative stereo vision system (3D-distributed visual sensing using different kind of vision cameras) for the autonomous navigation of a wheeled robot team. It is proposed a triangulation-based method for the 3D-posture computation of an unknown object by considering the collaborative hybrid stereo vision system, and this way to steer the robots team ...

We present a portable active binocular robot vision architecture that integrates a number of visual behaviours. This vision architecture inherits the abilities of vergence, localisation, recognition and simultaneous identification of multiple target object instances. To demonstrate the portability of our vision architecture, we carry out qualitative and comparative analysis under two different ...

TRIPOD is free and open source software for rapidly developing computer vision applications. With such software, robot vision systems can be developed, tested and validated. This paper presents a step-by-step tutorial where live video is thresheld to display the corresponding binary image. This simple exercise serves to illustrate the realization of a robot vision system. A LEGO Mindstorms Visi...

Multiple robot systems in which every robot is equipped with a vision sensor are more and more frequent. Most of these systems simply distribute the sensors in the environment, but they do not create a real Cooperative Distributed Vision System. Distributed Vision System has been studied in the past, but not enough emphasis has been posed on mobile robots. In this paper we propose an approach t...