Browse
Submit Data
Databases
API
Help

Dataset Information

0 Views

0 Connections

0 Citations

0 Reanalyses

0 Downloads

Omics score: 0

Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the Outdoors.

ABSTRACT: Environment perception is essential for autonomous mobile robots in human-robot coexisting outdoor environments. One of the important tasks for such intelligent robots is to autonomously detect the traversable region in an unstructured 3D real world. The main drawback of most existing methods is that of high computational complexity. Hence, this paper proposes a binocular vision-based, real-time solution for detecting traversable region in the outdoors. In the proposed method, an appearance model based on multivariate Gaussian is quickly constructed from a sample region in the left image adaptively determined by the vanishing point and dominant borders. Then, a fast, self-supervised segmentation scheme is proposed to classify the traversable and non-traversable regions. The proposed method is evaluated on public datasets as well as a real mobile robot. Implementation on the mobile robot has shown its ability in the real-time navigation applications.

SUBMITTER: Deng F

PROVIDER: S-EPMC5621064 | biostudies-literature | 2017 Sep

REPOSITORIES: biostudies-literature

ACCESS DATA

Json Xml

Publications

Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the Outdoors.

Deng Fucheng F Zhu Xiaorui X He Chao C

Sensors (Basel, Switzerland) 20170913 9

Environment perception is essential for autonomous mobile robots in human-robot coexisting outdoor environments. One of the important tasks for such intelligent robots is to autonomously detect the traversable region in an unstructured 3D real world. The main drawback of most existing methods is that of high computational complexity. Hence, this paper proposes a binocular vision-based, real-time solution for detecting traversable region in the outdoors. In the proposed method, an appearance mode ...[more]

PMID: 28902180

Similar Datasets

Algorithm for Mobile Platform-Based Real-Time QRS Detection.

Project description:Recent advancements in smart, wearable technologies have allowed the detection of various medical conditions. In particular, continuous collection and real-time analysis of electrocardiogram data have enabled the early identification of pathologic cardiac rhythms. Various algorithms to assess cardiac rhythms have been developed, but these utilize excessive computational power. Therefore, adoption to mobile platforms requires more computationally efficient algorithms that do not sacrifice correctness. This study presents a modified QRS detection algorithm, the AccYouRate Modified Pan-Tompkins (AMPT), which is a simplified version of the well-established Pan-Tompkins algorithm. Using archived ECG data from a variety of publicly available datasets, relative to the Pan-Tompkins, the AMPT algorithm demonstrated improved computational efficiency by 5-20×, while also universally enhancing correctness, both of which favor translation to a mobile platform for continuous, real-time QRS detection.

| S-EPMC9920820 | biostudies-literature

Real-time terrain storage generation from multiple sensors towards mobile robot operation interface.

Project description:A mobile robot mounted with multiple sensors is used to rapidly collect 3D point clouds and video images so as to allow accurate terrain modeling. In this study, we develop a real-time terrain storage generation and representation system including a nonground point database (PDB), ground mesh database (MDB), and texture database (TDB). A voxel-based flag map is proposed for incrementally registering large-scale point clouds in a terrain model in real time. We quantize the 3D point clouds into 3D grids of the flag map as a comparative table in order to remove the redundant points. We integrate the large-scale 3D point clouds into a nonground PDB and a node-based terrain mesh using the CPU. Subsequently, we program a graphics processing unit (GPU) to generate the TDB by mapping the triangles in the terrain mesh onto the captured video images. Finally, we produce a nonground voxel map and a ground textured mesh as a terrain reconstruction result. Our proposed methods were tested in an outdoor environment. Our results show that the proposed system was able to rapidly generate terrain storage and provide high resolution terrain representation for mobile mapping services and a graphical user interface between remote operators and mobile robots.

| S-EPMC4101941 | biostudies-other

Development of a multimodal mobile colposcope for real-time cervical cancer detection.

Project description:Cervical cancer remains a leading cause of cancer death among women in low-and middle-income countries. Globally, cervical cancer prevention programs are hampered by a lack of resources, infrastructure, and personnel. We describe a multimodal mobile colposcope (MMC) designed to diagnose precancerous cervical lesions at the point-of-care without the need for biopsy. The MMC integrates two complementary imaging systems: 1) a commercially available colposcope and 2) a high speed, high-resolution, fiber-optic microendoscope (HRME). Combining these two image modalities allows, for the first time, the ability to locate suspicious cervical lesions using widefield imaging and then to obtain co-registered high-resolution images across an entire lesion. The MMC overcomes limitations of high-resolution imaging alone; widefield imaging can be used to guide the placement of the high-resolution imaging probe at clinically suspicious regions and co-registered, mosaicked high-resolution images effectively increase the field of view of high-resolution imaging. Representative data collected from patients referred for colposcopy at Barretos Cancer Hospital in Brazil, including 22,800 high resolution images and 9,900 colposcope images, illustrate the ability of the MMC to identify abnormal cervical regions, image suspicious areas with subcellular resolution, and distinguish between high-grade and low-grade dysplasia.

| S-EPMC9664871 | biostudies-literature

A Saccade Based Framework for Real-Time Motion Segmentation Using Event Based Vision Sensors.

Project description:Motion segmentation is a critical pre-processing step for autonomous robotic systems to facilitate tracking of moving objects in cluttered environments. Event based sensors are low power analog devices that represent a scene by means of asynchronous information updates of only the dynamic details at high temporal resolution and, hence, require significantly less calculations. However, motion segmentation using spatiotemporal data is a challenging task due to data asynchrony. Prior approaches for object tracking using neuromorphic sensors perform well while the sensor is static or a known model of the object to be followed is available. To address these limitations, in this paper we develop a technique for generalized motion segmentation based on spatial statistics across time frames. First, we create micromotion on the platform to facilitate the separation of static and dynamic elements of a scene, inspired by human saccadic eye movements. Second, we introduce the concept of spike-groups as a methodology to partition spatio-temporal event groups, which facilitates computation of scene statistics and characterize objects in it. Experimental results show that our algorithm is able to classify dynamic objects with a moving camera with maximum accuracy of 92%.

| S-EPMC5334512 | biostudies-literature

SLAM-Based Self-Calibration of a Binocular Stereo Vision Rig in Real-Time.

Project description:The calibration problem of binocular stereo vision rig is critical for its practical application. However, most existing calibration methods are based on manual off-line algorithms for specific reference targets or patterns. In this paper, we propose a novel simultaneous localization and mapping (SLAM)-based self-calibration method designed to achieve real-time, automatic and accurate calibration of the binocular stereo vision (BSV) rig's extrinsic parameters in a short period without auxiliary equipment and special calibration markers, assuming the intrinsic parameters of the left and right cameras are known in advance. The main contribution of this paper is to use the SLAM algorithm as our main tool for the calibration method. The method mainly consists of two parts: SLAM-based construction of 3D scene point map and extrinsic parameter calibration. In the first part, the SLAM mainly constructs a 3D feature point map of the natural environment, which is used as a calibration area map. To improve the efficiency of calibration, a lightweight, real-time visual SLAM is built. In the second part, extrinsic parameters are calibrated through the 3D scene point map created by the SLAM. Ultimately, field experiments are performed to evaluate the feasibility, repeatability, and efficiency of our self-calibration method. The experimental data shows that the average absolute error of the Euler angles and translation vectors obtained by our method relative to the reference values obtained by Zhang's calibration method does not exceed 0.5˚ and 2 mm, respectively. The distribution range of the most widely spread parameter in Euler angles is less than 0.2˚ while that in translation vectors does not exceed 2.15 mm. Under the general texture scene and the normal driving speed of the mobile robot, the calibration time can be generally maintained within 10 s. The above results prove that our proposed method is reliable and has practical value.

| S-EPMC7038334 | biostudies-literature

Real-time realizable mobile imaging photoplethysmography.

Project description:Photoplethysmography imaging (PPGI) sensors have attracted a significant amount of attention as they enable the remote monitoring of heart rates (HRs) and thus do not require any additional devices to be worn on fingers or wrists. In this study, we mounted PPGI sensors on a robot for active and autonomous HR (R-AAH) estimation. We proposed an algorithm that provides accurate HR estimation, which can be performed in real time using vision and robot manipulation algorithms. By simplifying the extraction of facial skin images using saturation (S) values in the HSV color space, and selecting pixels based on the most frequent S value within the face image, we achieved a reliable HR assessment. The results of the proposed algorithm using the R-AAH method were evaluated by rigorous comparison with the results of existing algorithms on the UBFC-RPPG dataset (n = 42). The proposed algorithm yielded an average absolute error (AAE) of 0.71 beats per minute (bpm). The developed algorithm is simple, with a processing time of less than 1 s (275 ms for an 8-s window). The algorithm was further validated on our own dataset (BAMI-RPPG dataset [n = 14]) with an AAE of 0.82 bpm.

| S-EPMC9065061 | biostudies-literature

Real-time Computer-Aided Detection of Colonic Adenomas With NEC WISE VISION Endoscopy

Project description:This is a prospective, multicenter, randomized study to evaluate the clinical performance of a novel CADe device, WISE VISION Endoscopy System, in patients undergoing high-definition white light (HDWL) colonoscopy for screening or surveillance of colorectal Cancer (CRC). Eligible subjects who meet the study inclusion/exclusion criteria will be randomized in a 1:1 ratio to undergo colonoscopy : * Experimental: CADe colonoscopy procedure with WISE VISION Endoscopy (CADe Group) * Control: Standard Colonoscopy without CADe (Standard Colonoscopy Group)

| 2760920 | ecrin-mdr-crc

Study of real-time parameter measurement of ring rolling pieces based on machine vision.

Project description:Real time parameter measurement cannot be carried out to dynamic ring parts during automation ring rolling processes so that rolling process parameters cannot be adjusted in time. Considering effects of shaping of ring rolling parts, a visual measurement platform was set up and a machine vision-based non-contact real -time measurement method was put forward. This article improves the subpixel level edge extraction algorithm to extract edge data information of circular rolling pieces. Based on the characteristics of circular rolling pieces, an RG-Hough transform method is proposed to fit the detected edge data information. The conversion relationship between pixel and actual sizes were determined in combination with the camera calibration to gain parameters of ring rolling parts. Measurements of ring parts (OD: 462.12mm; and ID: 315.53mm) were applied to verify the effectiveness of our method. Our measurement error is ±0.25mm and our average speed can be up to 104ms/frame. Our study can provide powerful technical supports for intelligent control of ring rolling pieces.

| S-EPMC10889852 | biostudies-literature

Shape based kinetic outlier detection in real-time PCR.

Project description:BackgroundReal-time PCR has recently become the technique of choice for absolute and relative nucleic acid quantification. The gold standard quantification method in real-time PCR assumes that the compared samples have similar PCR efficiency. However, many factors present in biological samples affect PCR kinetic, confounding quantification analysis. In this work we propose a new strategy to detect outlier samples, called SOD.ResultsRichards function was fitted on fluorescence readings to parameterize the amplification curves. There was not a significant correlation between calculated amplification parameters (plateau, slope and y-coordinate of the inflection point) and the Log of input DNA demonstrating that this approach can be used to achieve a "fingerprint" for each amplification curve. To identify the outlier runs, the calculated parameters of each unknown sample were compared to those of the standard samples. When a significant underestimation of starting DNA molecules was found, due to the presence of biological inhibitors such as tannic acid, IgG or quercitin, SOD efficiently marked these amplification profiles as outliers. SOD was subsequently compared with KOD, the current approach based on PCR efficiency estimation. The data obtained showed that SOD was more sensitive than KOD, whereas SOD and KOD were equally specific.ConclusionOur results demonstrated, for the first time, that outlier detection can be based on amplification shape instead of PCR efficiency. SOD represents an improvement in real-time PCR analysis because it decreases the variance of data thus increasing the reliability of quantification.

| S-EPMC2873533 | biostudies-literature

From real-time adaptation to social learning in robot ecosystems.

Project description:While evolutionary robotics can create novel morphologies and controllers that are well-adapted to their environments, learning is still the most efficient way to adapt to changes that occur on shorter time scales. Learning proposals for evolving robots to date have focused on new individuals either learning a controller from scratch, or building on the experience of direct ancestors and/or robots with similar configurations. Here we propose and demonstrate a novel means for social learning of gait patterns, based on sensorimotor synchronization. Using movement patterns of other robots as input can drive nonlinear decentralized controllers such as CPGs into new limit cycles, hence encouraging diversity of movement patterns. Stable autonomous controllers can then be locked in, which we demonstrate using a quasi-Hebbian feedback scheme. We propose that in an ecosystem of robots evolving in a heterogeneous environment, such a scheme may allow for the emergence of generalist task-solvers from a population of specialists.

| S-EPMC10584317 | biostudies-literature

OmicsDI is part of the ELIXIR infrastructure

OmicsDI is an Elixir interoperability service. Learn more ›

Tweets

OmicsDI Databases

PRIDE
PeptideAtlas
MassIVE
JPOST Repository
Physiome Model Repository

EGA
EVA
ENA
LINCS
PAXDB
Cell Collective

MetaboLights
Metabolomics Workbench
MetabolomeExpress
GNPS
BioModels
FAIRDOMHub

ArrayExpress
dbGaP
ExpressionAtlas
GEO
NODE

Information

Databases
Help
API
Contact us
Code on GitHub
Terms of use
Submit Data