Improved autonomous load handling with stereo cameras

2015 ◽  
Author(s):  
Robert Varga ◽  
Arthur Costea ◽  
Sergiu Nedevschi
Keyword(s):  
Stereo Cameras ◽  
Load Handling

scholarly journals Evaluation of Physical Risk during Necropsy and Morgue Activities as Risk Management Strategy

2021 ◽  
Vol 18 (16) ◽  
pp. 8266
Author(s):  
Zoe Del Fante ◽  
Nicola Di Fazio ◽  
Adriano Papale ◽  
Paola Tomao ◽  
Fabio Del Duca ◽  
...  
Keyword(s):  
Risk Factors ◽  
Risk Management ◽  
Management Strategies ◽  
Risk Management Strategy ◽  
Work Related ◽  
Activity Measurements ◽  
Risk Management Strategies ◽  
Physical Risk ◽  
Critical Issues ◽  
Load Handling

Physical risk assessments allow us to understand work-related critical issues, thus representing a useful tool in risk management strategies. In particular, our study focuses on the identification of already known and emerging physical risks related to necropsy and morgue activities, as well as crime scene investigations. The aim of our study is, therefore, to identify objective elements in order to quantify exposure to such risk factors among healthcare professionals and working personnel. For the research of potentially at-risk activities, data from the Morgue of Policlinico Umberto I Hospital in Rome were used. The scientific literature has been reviewed in order to assess the risks associated with morgue activity. Measurements were performed on previously scheduled days, in collaboration with the activities of different research units. The identified areas of risk were: microclimate; exposure to noise and vibrations; postural and biomechanical aspects of necropsy activities. The obtained results make it possible to detect interindividual variability in exposure to many of the aforementioned risk factors. In particular, the assessment of microclimate did not show significant results. On the contrary, exposure to vibrations and biomechanical aspects of load handling have shown potential risk profiles. For this reason, both profiles have been identified as possible action targets for risk management strategies.

scholarly journals Modelling Software Architecture for Visual Simultaneous Localization and Mapping

Automation ◽  
2021 ◽  
Vol 2 (2) ◽  
pp. 48-61
Author(s):  
Bhavyansh Mishra ◽  
Robert Griffin ◽  
Hakki Erhan Sevil
Keyword(s):  
System Integration ◽  
Ad Hoc ◽  
Simultaneous Localization And Mapping ◽  
Software Systems ◽  
Model Driven ◽  
Performance Improvements ◽  
Software Model ◽  
Localization And Mapping ◽  
Stereo Cameras ◽  
Core Components

Visual simultaneous localization and mapping (VSLAM) is an essential technique used in areas such as robotics and augmented reality for pose estimation and 3D mapping. Research on VSLAM using both monocular and stereo cameras has grown significantly over the last two decades. There is, therefore, a need for emphasis on a comprehensive review of the evolving architecture of such algorithms in the literature. Although VSLAM algorithm pipelines share similar mathematical backbones, their implementations are individualized and the ad hoc nature of the interfacing between different modules of VSLAM pipelines complicates code reuseability and maintenance. This paper presents a software model for core components of VSLAM implementations and interfaces that govern data flow between them while also attempting to preserve the elements that offer performance improvements over the evolution of VSLAM architectures. The framework presented in this paper employs principles from model-driven engineering (MDE), which are used extensively in the development of large and complicated software systems. The presented VSLAM framework will assist researchers in improving the performance of individual modules of VSLAM while not having to spend time on system integration of those modules into VSLAM pipelines.

scholarly journals Summertime Continental Shallow Cumulus Cloud Detection Using GOES-16 Satellite and Ground-Based Stereo Cameras at the DOE ARM Southern Great Plains Site

2021 ◽  
Vol 13 (12) ◽  
pp. 2309
Author(s):  
Jingjing Tian ◽  
Yunyan Zhang ◽  
Stephen A. Klein ◽  
Likun Wang ◽  
Rusen Öktem ◽  
...  
Keyword(s):  
Great Plains ◽  
Land Surface ◽  
Detection Threshold ◽  
Department Of Energy ◽  
Surface Reflectance ◽  
Cloud Detection ◽  
Southern Great Plains ◽  
Clear Sky ◽  
Shallow Cumulus ◽  
Stereo Cameras

Summertime continental shallow cumulus clouds (ShCu) are detected using Geostationary Operational Environmental Satellite (GOES)-16 reflectance data, with cross-validation by observations from ground-based stereo cameras at the Department of Energy Atmospheric Radiation Measurement Southern Great Plains site. A ShCu cloudy pixel is identified when the GOES reflectance exceeds the clear-sky surface reflectance by a reflectance detection threshold of ShCu, ΔR. We firstly construct diurnally varying clear-sky surface reflectance maps and then estimate the ∆R. A GOES simulator is designed, projecting the clouds reconstructed by stereo cameras towards the surface along the satellite’s slanted viewing direction. The dynamic ShCu detection threshold ΔR is determined by making the GOES cloud fraction (CF) equal to the CF from the GOES simulator. Although there are temporal variabilities in ΔR, cloud fractions and cloud size distributions can be well reproduced using a constant ΔR value of 0.045. The method presented in this study enables daytime ShCu detection, which is usually falsely reported as clear sky in the GOES-16 cloud mask data product. Using this method, a new ShCu dataset can be generated to bridge the observational gap in detecting ShCu, which may transition into deep precipitating clouds, and to facilitate further studies on ShCu development over heterogenous land surface.

scholarly journals A square root unscented Kalman filter for multiple view geometry based stereo cameras/inertial navigation

2016 ◽  
Vol 13 (5) ◽  
pp. 172988141666485 ◽  
Author(s):  
Zhiwen Xian ◽  
Junxiang Lian ◽  
Mao Shan ◽  
Lilian Zhang ◽  
Xiaofeng He ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Unscented Kalman Filter ◽  
Inertial Navigation ◽  
Square Root ◽  
Multiple View Geometry ◽  
Multiple View ◽  
Stereo Cameras

Direct visual-inertial odometry with stereo cameras

2016 ◽  
Author(s):  
Vladyslav Usenko ◽  
Jakob Engel ◽  
Jorg Stuckler ◽  
Daniel Cremers
Keyword(s):  
Stereo Cameras

An Experimental Analysis of the Effects of Different Hardware Setups on Stereo Camera Systems

2021 ◽  
Vol 15 (03) ◽  
pp. 337-357
Author(s):  
Alexander Julian Golkowski ◽  
Marcus Handte ◽  
Peter Roch ◽  
Pedro J. Marrón
Keyword(s):  
Experimental Analysis ◽  
Autonomous Navigation ◽  
Indoor Environments ◽  
Camera System ◽  
Stereo Camera ◽  
Camera Systems ◽  
Sensing Technology ◽  
Stereo Cameras ◽  
The Impact ◽  
General Guidance

For many application areas such as autonomous navigation, the ability to accurately perceive the environment is essential. For this purpose, a wide variety of well-researched sensor systems are available that can be used to detect obstacles or navigation targets. Stereo cameras have emerged as a very versatile sensing technology in this regard due to their low hardware cost and high fidelity. Consequently, much work has been done to integrate them into mobile robots. However, the existing literature focuses on presenting the concepts and algorithms used to implement the desired robot functions on top of a given camera setup. As a result, the rationale and impact of choosing this camera setup are usually neither discussed nor described. Thus, when designing the stereo camera system for a mobile robot, there is not much general guidance beyond isolated setups that worked for a specific robot. To close the gap, this paper studies the impact of the physical setup of a stereo camera system in indoor environments. To do this, we present the results of an experimental analysis in which we use a given software setup to estimate the distance to an object while systematically changing the camera setup. Thereby, we vary the three main parameters of the physical camera setup, namely the angle and distance between the cameras as well as the field of view and a rather soft parameter, the resolution. Based on the results, we derive several guidelines on how to choose the parameters for an application.

scholarly journals REDESAIN JABATAN DAN KEPUASAN KERJA: STUDI PADA GABUNGAN KELOMPOK TANI (GAPOKTAN)

2015 ◽  
Vol 6 (2) ◽  
Author(s):  
Muafi Muafi ◽  
Ari Wijayani
Keyword(s):  
Job Satisfaction ◽  
Survey Research ◽  
Work Load ◽  
Qualitative Approach ◽  
Job Description ◽  
The Government ◽  
Load Handling ◽  
Job Specification ◽  
The Impact ◽  
Work Method

<p>The purpose of this study is to understand the impact of the need to redesign the position of Gapoktan’s management towards job satisfaction. This research is a survey research using qualitative approach. The data were collected using interviews, photos, and notes in the field. Populations in this research are stakeholders (Gapoktan committee, farmers, government) who also become a key participant in Hargobinangun, Kaliurang Sleman Daerah istimewa Yogyakarta. The Gapoktan committee’s participant is 5 person, the government is 3 person, and farmers group is 4 person. The result conclude that a position can be redesigned if the job in that position was used to improve the work method, minimize failure and mistakes, eliminate the work load handling that is unnecessary and work duplication, reduce the fatigue, improve the responsibility, and eventually can increase job satisfaction of the management. All of that can be analyzed by job description and job specification which attached to of each management so that eventually the job satisfaction of the management can be improved.</p>

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