scholarly journals INTEGRATED SYSTEM SIMULTANEUS LOCALIZATION AND MAPPING

2017 ◽  
Vol 4 (54) ◽  
Author(s):  
V. M. Sineglazov ◽  
M. S. Pisaryuga
Keyword(s):  
Integrated System ◽  
Localization And Mapping

Navigation and Obstacle Avoidance of Snake-Robot Guided by a Co-Robot UAV Visual Servoing

2020 ◽  
Author(s):  
Mahdi Haghshenas-Jaryani ◽  
Hakki Erhan Sevil ◽  
Liang Sun
Keyword(s):  
Obstacle Avoidance ◽  
Autonomous Navigation ◽  
Visual Servoing ◽  
Integrated System ◽  
Ground Vehicles ◽  
Snake Robot ◽  
Cluttered Environments ◽  
Localization And Mapping ◽  
Path Planner ◽  
Snake Robots

Abstract This paper presents the concept of teaming up snake-robots, as unmanned ground vehicles (UGVs), and unmanned aerial vehicles (UAVs) for autonomous navigation and obstacle avoidance. Snake robots navigate in cluttered environments based on visual servoing of a co-robot UAV. It is assumed that snake-robots do not have any means to map the surrounding environment, detect obstacles, or self-localize, and these tasks are allocated to the UAV, which uses visual sensors to track the UGVs. The obtained images were used for the geo-localization and mapping the environment. Computer vision methods were utilized for the detection of obstacles, finding obstacle clusters, and then, mapping based on Probabilistic Threat Exposure Map (PTEM) construction. A path planner module determines the heading direction and velocity of the snake robot. A combined heading-velocity controller was used for the snake robot to follow the desired trajectories using the lateral undulatory gait. A series of simulations were carried out for analyzing the snake-robot’s maneuverability and proof-of-concept by navigating the snake robot in an environment with two obstacles based on the UAV visual servoing. The results showed the feasibility of the concept and effectiveness of the integrated system for navigation.

scholarly journals A NEW INDOOR LIDAR-BASED MMS CHALLENGING COMPLEX ARCHITECTURAL ENVIRONMENTS

2021 ◽  
Vol XLVI-M-1-2021 ◽  
pp. 79-86
Author(s):  
C. Bonfanti ◽  
G. Patrucco ◽  
S. Perri ◽  
G. Sammartano ◽  
A. Spanò
Keyword(s):  
Disruptive Innovation ◽  
Integrated System ◽  
Portable Devices ◽  
Mapping Algorithms ◽  
Localization And Mapping ◽  
Outdoor Spaces ◽  
Application Fields ◽  
Global And Local ◽  
Mobile Mapping Systems ◽  
Swift System

Abstract. The use of moving devices equipped with range- and image-based sensor, generically defined Mobile Mapping systems (MMS), have been quite a disruptive innovation in the development of Geomatics techniques for 3D surveying large indoor-outdoor spaces and offer multiple solutions. The recent expansion of portable devices in the form of trolleys, backpacks, handheld tools largely implements SLAM (Simultaneous Localization and Mapping) algorithms and technology based on both Lidar and/or visual solutions for answering to the positioning and the 3D reconstruction problems. The research on MMS is directed to improve both multi-sensor integration implementation and usability of systems in diversified use contexts and application fields. The aim of the presented research is the evaluation of the potential of the Swift system recently developed by FARO Technologies, that has been fine-tuned for regular and large extent interiors mapping (such as factories, hospitals, airports, offices). The work tries to preliminary investigate the data delivery and usability of the integrated system. This is based on three elements mounted on a sliding trolley moved by the operator walking: the ScanPlan profilometer working for the 2D SLAM mapping, the static TLS Focus S-series, and the smartphone managing the sensors operation and the acquisition progress. The evaluation strategy undertaken will be based on the global and local performance analysis related to the trajectory, the data accuracy, the metric content and consistency. Two test studies belonging to the 20th century. architecture are presented in a preliminary framework of evaluation and validation: a Liberty-style cinema and the Torino Esposizioni Hall B designed in ferrocement by pier Luigi Nervi.

Robot Simultaneous Localization and Mapping Using Speeded-Up Robust Features

2013 ◽  
Vol 284-287 ◽  
pp. 2142-2146 ◽  
Author(s):  
Yin Tien Wang ◽  
Chen Tung Chi ◽  
Ying Chieh Feng
Keyword(s):  
Feature Recognition ◽  
Vision System ◽  
Recognition Rate ◽  
Simultaneous Localization And Mapping ◽  
Integrated System ◽  
Detection Methods ◽  
Speeded Up Robust Features ◽  
Localization And Mapping ◽  
Environmental Map ◽  
Binocular Vision System

An algorithm for robot mapping is proposed in this paper using the method of speeded-up robust features (SURF). Since SURFs are scale- and orientation-invariant features, they have higher repeatability than that of the features obtained by other detection methods. Even in the cases of using moving camera, the SURF method can robustly extract the features from image sequences. Therefore, SURFs are suitable to be utilized as the map features in visual simultaneous localization and mapping (SLAM). In this article, the procedures of detection and matching of the SURF method are modified to improve the image processing speed and feature recognition rate. The sparse representation of SURF is also utilized to describe the environmental map in SLAM tasks. The purpose is to reduce the computation complexity in state estimation using extended Kalman filter (EKF). The EKF SLAM with SURF-based map is developed and implemented on a binocular vision system. The integrated system has been successfully validated to fulfill the basic capabilities of SLAM system.

Measurement-Level Integration of Carrier-Phase GPS and Laser-Scanner for Outdoor Ground Vehicle Navigation

2009 ◽  
Vol 131 (2) ◽  
Author(s):  
Mathieu Joerger ◽  
Boris Pervan
Keyword(s):  
Carrier Phase ◽  
Experimental Testing ◽  
A Priori ◽  
Laser Scanner ◽  
Obstacle Detection ◽  
Integrated System ◽  
Differential Gps ◽  
Localization And Mapping ◽  
Phase Cycle ◽  
Ambiguity Estimation

This paper introduces a navigation system based on combined global positioning system (GPS) and laser-scanner measurements for outdoor ground vehicles. Using carrier-phase differential GPS, centimeter-level positioning is achievable when cycle ambiguities are resolved. However, GPS signals are easily attenuated or blocked, so their use is generally restricted to open-sky areas. In response, in this work we augment GPS with two-dimensional laser-scanner measurements. The latter is available when GPS is not and further enables obstacle detection. The two sensors are integrated in the range domain for optimal navigation performance. Nonlinear laser observations and time-correlated code and carrier-phase GPS signals are processed in a unified and compact measurement-differencing extended Kalman filter. The resulting algorithm performs real-time carrier-phase cycle ambiguity estimation and provides absolute vehicle positioning throughout GPS outages, without a priori knowledge of the surrounding landmark locations. Covariance analysis, Monte Carlo simulations, and experimental testing in the streets of Chicago demonstrate that the performance of the range-domain integrated system far exceeds that of a simpler position-domain implementation, in that it not only achieves meter-level precision over extended GPS-obstructed areas, but also improves the robustness of laser-based simultaneous localization and mapping.

scholarly journals The Performance Analysis of INS/GNSS/V-SLAM Integration Scheme Using Smartphone Sensors for Land Vehicle Navigation Applications in GNSS-Challenging Environments

2020 ◽  
Vol 12 (11) ◽  
pp. 1732
Author(s):  
Kai-Wei Chiang ◽  
Dinh Thuan Le ◽  
Thanh Trung Duong ◽  
Rui Sun
Keyword(s):  
Low Cost ◽  
Integrated System ◽  
Global Navigation Satellite Systems ◽  
Sensor Data ◽  
Integration Scheme ◽  
Visual Data ◽  
Integrated Sensor ◽  
Satellite Systems ◽  
Localization And Mapping ◽  
Smartphone Sensors

Modern smartphones contain embedded global navigation satellite systems (GNSSs), inertial measurement units (IMUs), cameras, and other sensors which are capable of providing user position, velocity, and attitude. However, it is difficult to utilize the actual navigation performance capabilities of smartphones due to the low-cost and disparate sensors, software technologies adopted by manufacturers, and the significant influence of environmental conditions. In this study, we proposed a scheme that integrated sensor data from smartphone IMUs, GNSS chipsets, and cameras using an extended Kalman filter (EKF) to enhance the navigation performance. The visual data from the camera was preprocessed using oriented FAST (Features from accelerated segment test) and rotated BRIEF (Binary robust independent elementary features)-simultaneous localization and mapping (ORB-SLAM), rescaled by applying GNSS measurements, and converted to velocity data before being utilized to update the integration filter. In order to verify the performance of the integrated system, field test data was collected in a downtown area of Tainan City, Taiwan. Experimental results indicated that visual data contributed significantly to improving the accuracy of the navigation performance, demonstrating improvements of 43.0% and 51.3% in position and velocity, respectively. It was verified that the proposed integrated system, which used data from smartphone sensors, was efficient in terms of increasing navigation accuracy in GNSS-challenging environments.

FR-IR Molecular Microanalysis System

1990 ◽  
Vol 48 (2) ◽  
pp. 270-271
Author(s):  
John A. Reffner ◽  
William T. Wihlborg
Keyword(s):  
Fourier Transform ◽  
Fourier Transform Infrared ◽  
Integrated System ◽  
Morphological Examination ◽  
Fully Integrated ◽  
Ir Microscopy ◽  
Normal Functions ◽  
Infrared Microspectroscopy ◽  
Infrared Spectral ◽  
Ft Ir

The IRμs™ is the first fully integrated system for Fourier transform infrared (FT-IR) microscopy. FT-IR microscopy combines light microscopy for morphological examination with infrared spectroscopy for chemical identification of microscopic samples or domains. Because the IRμs system is a new tool for molecular microanalysis, its optical, mechanical and system design are described to illustrate the state of development of molecular microanalysis. Applications of infrared microspectroscopy are reviewed by Messerschmidt and Harthcock.Infrared spectral analysis of microscopic samples is not a new idea, it dates back to 1949, with the first commercial instrument being offered by Perkin-Elmer Co. Inc. in 1953. These early efforts showed promise but failed the test of practically. It was not until the advances in computer science were applied did infrared microspectroscopy emerge as a useful technique. Microscopes designed as accessories for Fourier transform infrared spectrometers have been commercially available since 1983. These accessory microscopes provide the best means for analytical spectroscopists to analyze microscopic samples, while not interfering with the FT-IR spectrometer’s normal functions.

Fate of sperm membrane in fertilized ova

1993 ◽  
Vol 51 ◽  
pp. 40-41
Author(s):  
Frank J. Longo
Keyword(s):  
Electron Microscopy ◽  
Electrical Activity ◽  
Sea Urchins ◽  
Morphological Changes ◽  
Integrated System ◽  
Electrophysiological Recording ◽  
Experimental Conditions ◽  
The Status ◽  
Sperm Membrane ◽  
Temporal And Spatial

Measurement of the egg's electrical activity, the fertilization potential or the activation current (in voltage clamped eggs), provides a means of detecting the earliest perceivable response of the egg to the fertilizing sperm. By using the electrical physiological record as a “real time” indicator of the instant of electrical continuity between the gametes, eggs can be inseminated with sperm at lower, more physiological densities, thereby assuring that only one sperm interacts with the egg. Integrating techniques of intracellular electrophysiological recording, video-imaging, and electron microscopy, we are able to identify the fertilizing sperm precisely and correlate the status of gamete organelles with the first indication (fertilization potential/activation current) of the egg's response to the attached sperm. Hence, this integrated system provides improved temporal and spatial resolution of morphological changes at the site of gamete interaction, under a variety of experimental conditions. Using these integrated techniques, we have investigated when sperm-egg plasma membrane fusion occurs in sea urchins with respect to the onset of the egg's change in electrical activity.

Processing of Histopathological Data

1971 ◽  
Vol 10 (03) ◽  
pp. 142-147
Author(s):  
M. RENAUD ◽  
M. AQARQ ◽  
R. GERARD-MARCHANT ◽  
M. WOLFF-TERROINE
Keyword(s):  
Integrated System ◽  
Ease Of Use ◽  
Financial Data ◽  
Identification Number ◽  
Processing Data ◽  
Cancer Hospital

A method is presented for processing data from the histopathological laboratory of a cancer hospital. Emphasis is laid on the ease of use, the connection of medical, administrative and financial data, and the strictness of control of patient’s identification number. The system can be used separately; it is also a module for a large integrated system covering all the activities of the hospital.

STRATEGI OPTIMALISASI RETRIBUSI PASAR DI PEMERINTAH KABUPATEN BANTUL

2019 ◽  
Vol 6 (2) ◽  
pp. 147-156
Author(s):  
Lilik Ambarwati
Keyword(s):  
Swot Analysis ◽  
Descriptive Analysis ◽  
Integrated System ◽  
Routine Administration ◽  
Strategy Planning ◽  
Data Validity ◽  
Implementation Of The Strategy

The theme of this study is how the strategy planning in optimizing market levy in Bantul Regency. During 2012-2015, the levy achievement always exceeded the market target, but based on the potential data from Kepala Seksi Pendapatan in Kantor Pengelolaan Pasar, the specified target is too low, so that, the market levy still has potential to be optimized. Therefore, the aim of this study is to formulate the strategy to optimize market levy in Bantul Regency.The data used in this study was obtained from employees of the Kantor Pengelolaan Pasar both in the field and administration sector, also traders in Bantul district markets. The data was obtained through a questionnaire distributed to 34 employees of Kantor Pengelolaan Pasar, and interviews with market traders. The analysis mehod used is descriptive analysis and SWOT analysis.Based on the SWOT analysis, it is obtained the strategies for optimizing market levy in quadrant III by reducing the weaknesses to rise the opportunities. The implementation of the strategy, by the Kantor Pengelolaan Pasar, firstly by committing traders data validity, which is continued by collecting in an integrated system, that is a book keeping system. The officer made the routine administration after collecting, and traders who often do not pay the levy (in arrears) are required to pay the levy directly to BPD DIY.

Sign in / Sign up

Export Citation Format

Share Document