Displaying similar documents to “RGB-D terrain perception and dense mapping for legged robots”

An Algorithmic Approach to Inferring Cross-Ontology Links while Mapping Anatomical Ontologies

Petrov, Peter, Krachounov, Milko, van Ophuizen, Ernest, Vassilev, Dimitar (2012)

Serdica Journal of Computing

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ACM Computing Classification System (1998): J.3. Automated and semi-automated mapping and the subsequently merging of two (or more) anatomical ontologies can be achieved by (at least) two direct procedures. The first concerns syntactic matching between the terms of the two ontologies; in this paper, we call this direct matching (DM). It relies on identities between the terms of the two input ontologies in order to establish cross-ontology links between them. The second involves...

Parametric logarithmic type image processing for contrast based auto-focus in extreme lighting conditions

Corneliu Florea, Laura Florea (2013)

International Journal of Applied Mathematics and Computer Science

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While most of state-of-the-art image processing techniques were built under the so-called classical linear image processing, an alternative that presents superior behavior for specific applications comes in the form of Logarithmic Type Image Processing (LTIP). This refers to mathematical models constructed for the representation and processing of gray tones images. In this paper we describe a general mathematical framework that allows extensions of these models by various means while...

Efficient RGB-D data processing for feature-based self-localization of mobile robots

Marek Kraft, Michał Nowicki, Rudi Penne, Adam Schmidt, Piotr Skrzypczyński (2016)

International Journal of Applied Mathematics and Computer Science

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The problem of position and orientation estimation for an active vision sensor that moves with respect to the full six degrees of freedom is considered. The proposed approach is based on point features extracted from RGB-D data. This work focuses on efficient point feature extraction algorithms and on methods for the management of a set of features in a single RGB-D data frame. While the fast, RGB-D-based visual odometry system described in this paper builds upon our previous results...

Extending the UML for modelling variability for system families

Silva Robak, Bogdan Franczyk, Silva Robak (2002)

International Journal of Applied Mathematics and Computer Science

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The process of modelling and developing commonality and variability for system families should be supported by suitable methods and notations. The object-oriented methods and their notations, which are used at present, focus on the development of a single system at a time. In this paper we analyse feature models as a representation of the common parts and variants contained in a system family, and propose using a feature diagram as a basic representation of commonality, variability and...

Mapping and Merging of Anatomical Ontologies

Petrov, Peter (2013)

Serdica Journal of Computing

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This article presents the principal results of the Ph.D. thesis Intelligent systems in bioinformatics: mapping and merging anatomical ontologies by Peter Petrov, successfully defended at the St. Kliment Ohridski University of Sofia, Faculty of Mathematics and Informatics, Department of Information Technologies, on 26 April 2013. The problem of mapping and merging ontologies in general is an important one in the area of ontology engineering. The same problem considered within...

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...

Defining the semantics of rule-based Web applications through model-driven development

Joaquín Cañadas, José Palma, Samuel Túnez (2011)

International Journal of Applied Mathematics and Computer Science

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Rule languages and inference engines incorporate reasoning capabilities to Web information systems. This paper presents an approach for the specification and development of Web applications performing the usual functionalities of data management and incorporating a rule engine for reasoning capabilities. The proposed approach is based on the definition of a high-level representation of the semantics of rule-based applications through a formalism for conceptual modeling combining lightweight...