Homing with stereovision

Robotica ◽  
2015 ◽  
Vol 34 (12) ◽  
pp. 2741-2758 ◽  
Author(s):  
Paramesh Nirmal ◽  
Damian M. Lyons
Keyword(s):  
Laser Ranging ◽  
Depth Information ◽  
Wide Field ◽  
Stereo Images ◽  
Current Image ◽  
Goal Location ◽  
Visual Homing ◽  
Stereo Camera ◽  
Navigation Method

SUMMARYVisual Homing is a navigation method based on comparing a stored image of a goal location to the current image to determine how to navigate to the goal location. It is theorized that insects such as ants and bees employ visual homing techniques to return to their nest or hive, and inspired by this, several researchers have developed elegant robot visual homing algorithms. Depth information, from visual scale, or other modality such as laser ranging, can improve the quality of homing. While insects are not well equipped for stereovision, stereovision is an effective robot sensor. We describe the challenges involved in using stereovision derived depth in visual homing and our proposed solutions. Our algorithm,Homing with Stereovision(HSV), utilizes a stereo camera mounted on a pan-tilt unit to build composite wide-field stereo images and estimate distance and orientation from the robot to the goal location. HSV is evaluated in a set of 200 indoor trials using two Pioneer 3-AT robots showing it effectively leverages stereo depth information when compared to a depth from scale approach.

scholarly journals Evaluation of Field of View Width in Stereo-vision-Based Visual Homing

Robotica ◽  
2019 ◽  
Vol 38 (5) ◽  
pp. 787-803
Author(s):  
D. M. Lyons ◽  
B. Barriage ◽  
L. Del Signore
Keyword(s):  
Stereo Vision ◽  
Visual Image ◽  
Field Of View ◽  
Depth Information ◽  
Visual Homing ◽  
Stereo Camera ◽  
Performance Improvements ◽  
Image Prior ◽  
Local Navigation ◽  
Homing Performance

SummaryVisual homing is a local navigation technique used to direct a robot to a previously seen location by comparing the image of the original location with the current visual image. Prior work has shown that exploiting depth cues such as image scale or stereo-depth in homing leads to improved homing performance. While it is not unusual to use a panoramic field of view (FOV) camera in visual homing, it is unusual to have a panoramic FOV stereo-camera. So, while the availability of stereo-depth information may improve performance, the concomitant-restricted FOV may be a detriment to performance, unless specialized stereo hardware is used. In this paper, we present an investigation of the effect on homing performance of varying the FOV widths in a stereo-vision-based visual homing algorithm using a common stereo-camera. We have collected six stereo-vision homing databases – three indoor and three outdoor. Based on over 350,000 homing trials, we show that while a larger FOV yields performance improvements for larger homing offset angles, the relative improvement falls off with increasing FOVs, and in fact decreases for the widest FOV tested. We conduct additional experiments to identify the cause of this fall-off in performance, which we term the ‘blinder’ effect, and which we predict should affect other correspondence-based visual homing algorithms.

Analisis Pengalaman Keluarga Merawat Pasien Skizofrenia dengan Masalah Halusinasi Pendengaran Pasca Hospitalisasi

2019 ◽  
Vol 4 (2) ◽  
pp. 282
Author(s):  
Isti Harkomah
Keyword(s):  
Health Services ◽  
Family Support ◽  
Depth Information ◽  
Continuous Family ◽  
Family Experience ◽  
Schizophrenic Patients ◽  
Heavy Burden ◽  
Document Review ◽  
Depth Interviews

<p><em>Clients with hallucinations really need continuous family support both internal and external families. Reduced external family support will cause a heavy burden on the internal family in caring for hallucinatory clients. The reason families bring to the hospital is the inability to treat patient hallucinations at home after hospitalization because hallucinations pose a burden on the family. The purpose of this study was to find out in-depth information about family experience in treating schizophrenic patients who experience auditory hallucinations after hospitalization. This research is qualitative research, the phenomenology approach uses the method of collecting data by in-depth interviews and document review. Data were obtained by in-depth interviews with six participants. The results of the study are two main themes, namely family understanding of recognizing hallucinatory problems after hospitalization and family experience in treating schizophrenic patients with hallucinatory problems.It is hoped that health services will further improve the quality of health services in providing health education to families about how to properly care for hallucinatory patients and families are expected to be able to treat hallucinogenic patients well.</em></p><p><em><br /></em></p><p><em><em>Klien dengan halusinasi sangat membutuhkan dukungan dari keluarga secara terus menerus baik keluarga internal maupun eksternal. Berkurangnya dukungan keluarga eksternal akan menimbulkan beban yang berat bagi keluarga internal dalam merawat klien halusinasi. Alasan keluarga membawa ke RSJ adalah ketidakmampuan merawat halusinasi pasien dirumah pasca rawat inap karena halusinasi menimbulkan beban bagi keluarga. Tujuan penelitian ini adalah untuk mengetahui informasi mendalam tentang pengalaman keluarga dalam merawat pasien skizofrenia yang mengalami masalah halusinasi pendengaran pasca hospitalisasi. Penelitian ini merupahkan penelitian kualitatif, pendekatan fenomenologi menggunakan metode pengumpulan data dengan wawancara mendalam dan telaah dokumen. Data didapatkan dengan wawancara mendalam terhadap enam partisipan. Hasil wawancara dianalisis dengan menggunakan metode Collaizi. Hasil penelitian yaitu terdapat 2 utama tema yaitu pemahaman keluarga tentang mengenal masalah halusinasi pasca hospitalisasi dan pengalaman keluarga dalam merawat pasien skizofrenia dengan masalah halusinasi.Diharapkan bagi pelayanan kesehatan agar lebih meningkatkan mutu pelayanan kesehatan dalam memberikan pendidikan kesehatan kepada keluarga tentang cara merawat pasien halusinasi yang benar dan keluarga diharapkan dapat merawat pasien halusinasi dengan baik.</em></em></p>

scholarly journals Taylor expansion based stereo image reversible data hiding

2020 ◽  
Author(s):  
Xinyang Ying ◽  
Guobing Zhou
Keyword(s):  
Data Hiding ◽  
Reversible Data Hiding ◽  
Taylor Expansion ◽  
Stereo Image ◽  
Embedding Capacity ◽  
Stereo Images ◽  
Secret Data ◽  
Stego Image ◽  
Multi Level

Abstract The reversible data hiding allows original image to be completely recovered from the stego image when the secret data has been extracted, it is has drawn a lot of attentions from researchers. In this paper, a novel Taylor Expansion (TE) based stereo image reversible data hiding method is presented. Since the prediction accuracy is essential to the data hiding performance, a novel TE based predictor using correlations of two views of the stereo image is proposed. TE can fully exploit strong relationships between matched pixels in the stereo image so that the accuracy of the prediction can be improved. Then, histogram shifting is utilized to embed data to decrease distortion of stereo images, and multi-level hiding can increase embedding capacity. Experimental results show that the proposed method is superior to some existing data hiding methods considering embedding capacity and the quality of the stego stereo images.

scholarly journals Constructing Stereo Presentations of Textual Information on an Autostereoscopic Monitor

2019 ◽  
Author(s):  
Сергей Андреев ◽  
Sergey Andreev ◽  
Николь Бондарева ◽  
Nicole Bondareva
Keyword(s):  
Numerical Simulation ◽  
Scientific Research ◽  
Practical Experience ◽  
Stereo Image ◽  
Stereo Images ◽  
General Study ◽  
Textual Information ◽  
Stereoscopic Images ◽  
Depth Maps

This paper presents practical experience in constructing stereo presentations of texts and formulas on an autostereoscopic monitor in stereo presentations designed to display the results of numerical simulation. The task of constructing stereo images of texts and formulas is a structural subtask of a general study devoted to the development of methods and algorithms for constructing stereo presentations of the results of scientific research. This paper discusses the construction of stereoscopic images on an autostereoscopic monitor. The autostereoscopic monitor allows one to observe a stereo image without glasses, while ensuring the quality of the stereo image, which is not inferior to the quality of the stereo image, presented using a classic 3D projection stereo system. Various methods of obtaining stereo images supported by the monitor were tested, namely, the multi-view presentation of the object and the construction of depth maps. The results for both methods are presented.

scholarly journals Projection Screen with Wide-FOV and Motion Parallax Display for Teleoperation of Construction Machinery

2021 ◽  
Vol 33 (3) ◽  
pp. 604-609
Author(s):  
Daisuke Kondo ◽  
Keyword(s):  
Motion Parallax ◽  
Field Of View ◽  
Depth Information ◽  
Wide Field ◽  
Viewing Angle ◽  
Cooperative Research ◽  
Construction Machinery ◽  
Cooperative Research Center ◽  
Projection Screen ◽  
Wide Field Of View

The teleoperation of construction machinery has been introduced to mines and disaster sites. However, the work efficiency of teleoperations is lower than that of onboard operations owing to limitations in the viewing angle and insufficient depth information. To solve these problems and realize effective teleoperations, the Komatsu MIRAI Construction Equipment Cooperative Research Center is developing the next-generation teleoperation cockpit. In this study, we develop a display for teleoperations with a wide field-of-view, a portable projection screen, and a system that reproduces motion parallax, which is suitable for depth perception in the operating range of construction machinery.

scholarly journals Preservatives Stability: Stability Study of Parabens under Different Conditions of Stress Degradation

2020 ◽  
Vol 11 (3) ◽  
pp. 4187-4194
Author(s):  
Ismail Bennani ◽  
Madiha Alami Chentoufi ◽  
Miloud El Karbane ◽  
Ibrahim Sbai El Otmani ◽  
Amine Cheikh ◽  
...  
Keyword(s):  
Extreme Values ◽  
Stability Study ◽  
Wide Field ◽  
Direct Influence ◽  
Light Conditions ◽  
Influence Of Temperature ◽  
Stress Degradation ◽  
Quality Of Products ◽  
The Stability

Preservatives are used in a wide field of application to maintain the quality of products. They are used to deal with the chemical, physical and microbiological problems and the constraints of the development of several formulations. In this work, we tested the stability of antimicrobial preservatives which are the parabens under different stress degradation conditions to evaluate their degree of effectiveness. The tested parabens were incubated in different solutions at different pH, Temperatures, light conditions, and presence or absence of sucrose in solution (create a medium similar of syrups). The HPLC was used for the assay, by a validated method for the parabens assay and the statistical analysis of the data is carried out by JMP software. The results show a direct influence of temperature and pH on the level of parabens, while the influence of light remains negligible. The increase in temperature gives a degree of immunity of parabens levels, especially with the extreme values of pH. This study is one of the first studies of forced decomposition of parabens carried out under the various conditions suggested. The results give an idea of the stability profile of the tested parabens and suggest a model of the conditions of conservation and use of these products in different domains and under different conditions.

scholarly journals Quality of life of elderly persons placed in a nursing home

2021 ◽  
Vol 50 (1) ◽  
pp. 79-88
Author(s):  
Nataša Egeljić-Mihailović ◽  
Jelena Pavlović ◽  
Nina Brkić-Jovanović ◽  
Dragana Milutinović
Keyword(s):  
Quality Of Life ◽  
Modern Society ◽  
The Elderly ◽  
Subjective Assessment ◽  
Life Assessment ◽  
World Population ◽  
Wide Field ◽  
Elderly Persons ◽  
Quality Life

Modern society in recent decades is facing a large increase in the share of people over 65 in the total population. The research shows that the trend of increasing the number of the elderly is such that it is estimated that the share of people aged 65 and over in the world population will increase significantly (by 56%), from 901 million (12.3%) in 2015 to 1.4 billion (16.5%) in 2030. Nursing homes for the accommodation and care of the elderly are safe places that provide the elderly with reduced physical and other abilities and a life worthy of a human being. A wide field of interest for the research is the perception and experience of home care users about what a quality life in this environment could represent. As part of the quality of life assessment, different domains are assessed, and a certain degree of subjective assessment is included in the choice of quality of life domains. Given the demographic changes that have led to an aging population, as well as longer life expectancy, new measures of social and health policy towards the elderly are increasingly aimed at raising the quality of life of the elderly, while scientific research is increasingly focused on identifying factors that affect the quality of life of the elderly.

Colourlab Image Database: Geometric Distortions

2021 ◽  
Vol 2021 (29) ◽  
pp. 258-263
Author(s):  
Marius Pedersen ◽  
Seyed Ali Amirshahi
Keyword(s):  
Image Quality ◽  
High Performance ◽  
Image Database ◽  
Quality Metrics ◽  
Current Image ◽  
Geometric Distortions ◽  
Image Quality Metrics ◽  
Objective Metrics ◽  
Reference Images

Over the years, a high number of different objective image quality metrics have been proposed. While some image quality metrics show a high correlation with subjective scores provided in different datasets, there still exists room for improvement. Different studies have pointed to evaluating the quality of images affected by geometrical distortions as a challenge for current image quality metrics. In this work, we introduce the Colourlab Image Database: Geometric Distortions (CID:GD) with 49 different reference images made specifically to evaluate image quality metrics. CID:GD is one of the first datasets which include three different types of geometrical distortions; seam carving, lens distortion, and image rotation. 35 state-ofthe-art image quality metrics are tested on this dataset, showing that apart from a handful of these objective metrics, most are not able to show a high performance. The dataset is available at <ext-link ext-link-type="url" xlink:href="http://www.colourlab.no/cid">www.colourlab.no/cid</ext-link>.

How Good is Too Good? A Subjective Study on Over Enhancement of Images

2021 ◽  
Vol 2021 (29) ◽  
pp. 83-88
Author(s):  
Sahar Azimian ◽  
Farah Torkamani Azar ◽  
Seyed Ali Amirshahi
Keyword(s):  
Image Quality ◽  
High Contrast ◽  
Current Image ◽  
Low Contrast ◽  
Image Dataset ◽  
Long Time ◽  
Reference Images ◽  
Subjective Study ◽  
Contrast Image

For a long time different studies have focused on introducing new image enhancement techniques. While these techniques show a good performance and are able to increase the quality of images, little attention has been paid to how and when overenhancement occurs in the image. This could possibly be linked to the fact that current image quality metrics are not able to accurately evaluate the quality of enhanced images. In this study we introduce the Subjective Enhanced Image Dataset (SEID) in which 15 observers are asked to enhance the quality of 30 reference images which are shown to them once at a low and another time at a high contrast. Observers were instructed to enhance the quality of the images to the point that any more enhancement will result in a drop in the image quality. Results show that there is an agreement between observers on when over-enhancement occurs and this point is closely similar no matter if the high contrast or the low contrast image is enhanced.

Superintendent Perceptions of Quantity and Quality of Principal Candidates

2003 ◽  
Vol 13 (2) ◽  
pp. 159-180 ◽  
Author(s):  
Kathryn S. Whitaker
Keyword(s):  
Professional Preparation ◽  
Depth Information ◽  
Induction Programs ◽  
Preparation Programs ◽  
Principal Candidates ◽  
Level Of Satisfaction ◽  
Superintendent Perceptions ◽  
Principal Roles

This article presents data from a study of superintendents on their perceptions of the quality and quantity of principal candidates in one state. Through a survey, superintendents were asked to provide information about the quantity and quality of candidates for the principalship, level of satisfaction with mentoring/induction programs, and level of satisfaction with professional preparation programs. The respondents were also asked to provide responses to the factors discouraging applicants for the principalship, and suggestions to increase the pool of candidates for the principalship. Follow-up interviews were conducted with 10 superintendents in the state for more in-depth information about the quantity and quality of candidates for the principalship. Recommendations are offered about methods to increase candidate pools and retain quality individuals in principal roles.

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