Displaying similar documents to “Visual simultaneous localisation and map-building supported by structured landmarks”

Simultaneous Localization And Mapping: A feature-based probabilistic approach

Piotr Skrzypczyński (2009)

International Journal of Applied Mathematics and Computer Science

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This article provides an introduction to Simultaneous Localization And Mapping (SLAM), with the focus on probabilistic SLAM utilizing a feature-based description of the environment. A probabilistic formulation of the SLAM problem is introduced, and a solution based on the Extended Kalman Filter (EKF-SLAM) is shown. Important issues of convergence, consistency, observability, data association and scaling in EKF-SLAM are discussed from both theoretical and practical points of view. Major...

Hand gesture recognition based on free-form contours and probabilistic inference

Włodzimierz Kasprzak, Artur Wilkowski, Karol Czapnik (2012)

International Journal of Applied Mathematics and Computer Science

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A computer vision system is described that captures color image sequences, detects and recognizes static hand poses (i.e., "letters") and interprets pose sequences in terms of gestures (i.e., "words"). The hand object is detected with a double-active contour-based method. A tracking of the hand pose in a short sequence allows detecting "modified poses", like diacritic letters in national alphabets. The static hand pose set corresponds to hand signs of a thumb alphabet. Finally, by tracking...

Application of bearing and distance trees to the identification of landmarks on the coast

Tomasz Praczyk (2007)

International Journal of Applied Mathematics and Computer Science

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The problem of continuous position availability is one of the most important issues connected with the human activity at sea. Because the availability of satellite navigational systems can be limited in some cases, e.g. during military operations, one has to consider additional methods of acquiring information about the ship's position. In this paper one of these methods is presented, which is based on exploiting landmarks located on a coastline. A navigational radar is used to obtain...

Fusion based analysis of ophthalmologic image data

Jiří Jan, Radim Kolář, Libor Kubečka, Jan Odstrčilík, Jiří Gazárek (2011)

Kybernetika

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The paper presents an overview of image analysis activities of the Brno DAR group in the medical application area of retinal imaging. Particularly, illumination correction and SNR enhancement by registered averaging as preprocessing steps are briefly described; further mono- and multimodal registration methods developed for specific types of ophthalmological images, and methods for segmentation of optical disc, retinal vessel tree and autofluorescence areas are presented. Finally, the...

Supporting locomotive functions of a six-legged walking robot

Krzysztof Walas, Dominik Belter (2011)

International Journal of Applied Mathematics and Computer Science

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This paper presents a method for building a foothold selection module as well as methods for the stability check for a multi-legged walking robot. The foothold selection decision maker is shaped automatically, without expert knowledge. The robot learns how to select appropriate footholds by walking on rough terrain or by testing ground primitives. The gathered knowledge is then used to find a relation between slippages and the obtained local shape of the terrain, which is further employed...