Abstract: This paper presents the software conception of a quadrotor UAV, named SKYWATCHER, which is able to follow a target. This capacity can at a long turn time permit to follow another drone and combine their performance in order to military missions for example.
From a low-cost architecture constructed by five students we implemented a software and added a camera to create a visual servoing. This project demonstrates the possibility to associate the technology of stabilization and the technology of visual enslavement.
Abstract: In this paper, we consider the problem of tracking
multiple maneuvering targets using switching multiple target motion
models. With this paper, we aim to contribute in solving the problem
of model-based body motion estimation by using data coming from
visual sensors. The Interacting Multiple Model (IMM) algorithm is
specially designed to track accurately targets whose state and/or
measurement (assumed to be linear) models changes during motion
transition. However, when these models are nonlinear, the IMM
algorithm must be modified in order to guarantee an accurate track.
In this paper we propose to avoid the Extended Kalman filter because
of its limitations and substitute it with the Unscented Kalman filter
which seems to be more efficient especially according to the
simulation results obtained with the nonlinear IMM algorithm (IMMUKF).
To resolve the problem of data association, the JPDA
approach is combined with the IMM-UKF algorithm, the derived
algorithm is noted JPDA-IMM-UKF.
Abstract: Nowadays, with the emerging of the new applications
like robot control in image processing, artificial vision for visual
servoing is a rapidly growing discipline and Human-machine
interaction plays a significant role for controlling the robot. This
paper presents a new algorithm based on spatio-temporal volumes for
visual servoing aims to control robots. In this algorithm, after
applying necessary pre-processing on video frames, a spatio-temporal
volume is constructed for each gesture and feature vector is extracted.
These volumes are then analyzed for matching in two consecutive
stages. For hand gesture recognition and classification we tested
different classifiers including k-Nearest neighbor, learning vector
quantization and back propagation neural networks. We tested the
proposed algorithm with the collected data set and results showed the
correct gesture recognition rate of 99.58 percent. We also tested the
algorithm with noisy images and algorithm showed the correct
recognition rate of 97.92 percent in noisy images.
Abstract: In the visual servoing systems, the data obtained by
Visionary is used for controlling robots. In this project, at first the
simulator which was proposed for simulating the performance of a
6R robot before, was examined in terms of software and test, and in
the proposed simulator, existing defects were obviated. In the first
version of simulation, the robot was directed toward the target object only in a Position-based method using two cameras in the
environment. In the new version of the software, three cameras were used simultaneously. The camera which is installed as eye-inhand on the end-effector of the robot is used for visual servoing in a
Feature-based method. The target object is recognized according to
its characteristics and the robot is directed toward the object in compliance with an algorithm similar to the function of human-s
eyes. Then, the function and accuracy of the operation of the robot are examined through Position-based visual servoing method using
two cameras installed as eye-to-hand in the environment. Finally, the obtained results are tested under ANSI-RIA R15.05-2 standard.
Abstract: This paper focuses on the calibration problem of a
multi-view shooting system designed for the production of 3D
content for auto-stereoscopic visualization. The considered multiview
camera is characterized by coplanar and decentered image
sensors regarding to the corresponding optical axis. Based on the
Faugéras and Toscani-s calibration approach, a calibration method is
herein proposed for the case of multi-view camera with parallel and
decentered image sensors. At first, the geometrical model of the
shooting system is recalled and some industrial prototypes with some
shooting simulations are presented. Next, the development of the
proposed calibration method is detailed. Finally, some simulation
results are presented before ending with some conclusions about this
work.