A self-calibrated approach to visual servoing with respect to non planar targets modeled through a pair of coaxial circles plus one point is discussed. Full calibration data (fixed internal parameters) are obtained from two views, and used to recover Euclidean target structure and camera relative pose. Pose disambiguation is achieved without requiring any real third view of the target. The appr...

In video games and robotics, one often discretizes a continuous 2D environment into regular grid with blocked unblocked cells then finds shortest paths for the agents on resulting graph. Shortest paths, of course, are not necessarily true in environment. this article, we therefore study how much longer path can be than corresponding all grids that tessellate environments. We 5 different vertex ...

We present robust and efficient means for mobile robot navigation using a 3D representation of the environment. We build 3D surfel grid maps and propose Monte Carlo localization with probabilistic observation models for 2D and 3D sensors in such maps. In contrast to localization methods that utilize a 2D laser scanner in a static horizontal mounting, our method takes advantage of the 3D structu...

Map information is important for self localization and path planning when mobile robots accomplish autonomous tasks. We use 3D environment model containing color data and structure data of the environment. We propose a method for image memory based navigation of a mobile robot with 3D-2D edge matching by using a 3D environment model. Our proposed self localization method is composed of two phas...

This paper addresses the motion planning problem for wheeled vehicules moving on rough terrains 1. First, we formalize the placement problem for the case of a rather complex locomotion system consisting of n wheels attached to the robot body by passive suspensions. We next analyze the geometric and kinematic constraints acting on the placements of the robot. Finally, we present a planning metho...

In this paper we consider the problem of motion planning and control of a kinematically redundant manipulator which is used on forestry machines for logging. Once a desired path is specified in the 3D world frame, a trajectory can be planned and executed such that all joints are synchronized and path-constrained. A speed profile can be chosen according to particular costs (time, fuel consumptio...

This paper presents a fuzzy motion planner for humanoid robots in complex uneven environments. First, we define locomotion primitives for humanoid robots. A high-level planner finds a global path from a global navigation map that is generated based on a combination of 2.5 dimensional maps of the 3D workspace. A mid-level planner creates waypoints that help the robot efficiently cope with variou...

This paper gives an overview on crowdsourcing and co-curation practices in virtual museums. Engaged nonprofessionals and specialists support curators in creating digital 2D or 3D exhibits, exhibitions and tour planning and in the enhancement of metadata using the Virtual Museum and Cultural Object Exchange Format (ViMCOX). ViMCOX is based on international Lightweight Information Describing Obje...

aim: level of physical activity as key determinant of healthy lifestyle is less than what isrequired in individuals particularly women. applying theories of behavioral change aboutcomplex behaviors such as physical activity leads to identify effective factors and their relations.the aim of this study was to determine predictors of exercise behavior based on developedtheory of planned behavior w...