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Träfflista för sökning "WFRF:(Dorian Paul) srt2:(2008-2009)"

Search: WFRF:(Dorian Paul) > (2008-2009)

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1.
  • Gálvez López, Dorian, et al. (author)
  • Hybrid Laser and Vision Based Object Search and Localization
  • 2008
  • In: 2008 IEEE International Conference on Robotics and Automation. - 9781424416462 ; , s. 2636-2643
  • Conference paper (peer-reviewed)abstract
    • We describe a method for an autonomous robot to efficiently locate one or more distinct objects in a realistic environment using monocular vision. We demonstrate how to efficiently subdivide acquired images into interest regions for the robot to zoom in on, using receptive field cooccurrence histograms. Objects are recognized through SIFT feature matching and the positions of the objects are estimated. Assuming a 2D map of the robot's surroundings and a set of navigation nodes between which it is free to move, we show how to compute an efficient sensing plan that allows the robot's camera to cover the environment, while obeying restrictions on the different objects' maximum and minimum viewing distances. The approach has been implemented on a real robotic system and results are presented showing its practicability and the quality of the position estimates obtained.
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2.
  • Sjöö, Kristoffer, et al. (author)
  • Object Search and Localization for an Indoor Mobile Robot
  • 2009
  • In: Journal of Computing and Information Technology. - : Faculty of Electrical Engineering and Computing, Univ. of Zagreb. - 1330-1136 .- 1846-3908. ; 17:1, s. 67-80
  • Journal article (peer-reviewed)abstract
    • In this paper we present a method for search and localization of objects with a mobile robot using a monocular camera with zoom capabilities. We show how to overcome the limitations of low resolution images in object recognition by utilizing a combination of an attention mechanism and zooming as the first steps in the recognition process. The attention mechanism is based on receptive field cooccurrence histograms and the object recognition on SIFT feature matching. We present two methods for estimating the distance to the objects which serve both as the input to the control of the zoom and the final object localization. Through extensive experiments in a realistic environment, we highlight the strengths and weaknesses of both methods. To evaluate the usefulness of the method we also present results from experiments with an integrated system where a global sensing plan is generated based on view planning to let the camera cover the space on a per room basis.
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  • Result 1-2 of 2
Type of publication
conference paper (1)
journal article (1)
Type of content
peer-reviewed (2)
Author/Editor
Jensfelt, Patric (2)
Gálvez López, Dorian (2)
Paul, Chandana (2)
Kragic, Danica (1)
Sjöö, Kristoffer (1)
Sjöö, Kristoffer, 19 ... (1)
University
Royal Institute of Technology (2)
Language
English (2)
Research subject (UKÄ/SCB)
Natural sciences (2)

Year

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