Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739727
Lijun Zhou, Yide Ma, Jing Lian, Zhaobin Wang
Iris location is an essential step and an important part in an iris recognition system. However, traditional iris location methods often involve a large space of search, which is calculation wasting and sensitive to noise. And these methods adopt circular orientation to locate the pupillary boundary; it may lead to inaccurate location result and influence the subsequent feature extraction and recognition. To address these problems, this paper presents a precise iris location algorithm based on Vector Field Convolution (VFC, an improved Snake model) to improve the accuracy of iris location. Firstly, obtaining the iris area completely include the inside and outside boundary from an original iris image, then using minimum average grey value method to determine initialization contour of VFC model automatically, so as to locate an iris inner boundary precisely under the internal and external force of active contour. At last, we adopt the improved Daugman algorithm to locate the iris outer boundary that relatively contains little texture information. Experimental results show that the location accuracy of this method is higher, the iris inner edge location is much closer to the real boundary, the result of location have been improved significantly.
虹膜定位是虹膜识别系统的关键步骤和重要组成部分。然而，传统的虹膜定位方法往往涉及较大的搜索空间，计算浪费大和对噪声敏感。这些方法均采用圆形定向定位瞳孔边界;这可能导致定位结果不准确，影响后续的特征提取和识别。针对这些问题，本文提出了一种基于矢量场卷积(Vector Field Convolution, VFC，一种改进的Snake模型)的精确虹膜定位算法，以提高虹膜定位的精度。首先从原始虹膜图像中获得完整的包括内外边界的虹膜区域，然后利用最小平均灰度法自动确定VFC模型的初始化轮廓，从而在活动轮廓的内外作用下精确定位虹膜内边界。最后，采用改进的道格曼算法对纹理信息相对较少的虹膜外边界进行定位。实验结果表明，该方法的定位精度较高，虹膜内缘定位更接近真实边界，定位结果有明显改善。
{"title":"A new effective algorithm for iris location","authors":"Lijun Zhou, Yide Ma, Jing Lian, Zhaobin Wang","doi":"10.1109/ROBIO.2013.6739727","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739727","url":null,"abstract":"Iris location is an essential step and an important part in an iris recognition system. However, traditional iris location methods often involve a large space of search, which is calculation wasting and sensitive to noise. And these methods adopt circular orientation to locate the pupillary boundary; it may lead to inaccurate location result and influence the subsequent feature extraction and recognition. To address these problems, this paper presents a precise iris location algorithm based on Vector Field Convolution (VFC, an improved Snake model) to improve the accuracy of iris location. Firstly, obtaining the iris area completely include the inside and outside boundary from an original iris image, then using minimum average grey value method to determine initialization contour of VFC model automatically, so as to locate an iris inner boundary precisely under the internal and external force of active contour. At last, we adopt the improved Daugman algorithm to locate the iris outer boundary that relatively contains little texture information. Experimental results show that the location accuracy of this method is higher, the iris inner edge location is much closer to the real boundary, the result of location have been improved significantly.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123553200","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739810
Chaoqun Wang, M. Meng
The RT-WMP is a token-passing protocol based protocol that applied to the mobile ad-hoc network. It has many advantages. For instance, it supports real-time traffic, multi-hop capabilities. Especially, the messages could be scheduled in the multi-robots communications so that the one with higher priority will be transmitted earlier. This paper analyzes the state-of-the-art of ad-hoc network protocols and evaluates the RT-WMP routing protocol for multi-robot systems in a typical indoor environment. Experimental results demonstrate that the RT-WMP protocol guarantees the priority of message transmission in real-time task implemented by the multi-robot system. In addition, the RT-WMP works steadily when we change the priority manually. This work is a benchmark for adding allocation strategies in the RT-WMP.
{"title":"Experimental evaluation of the RT-WMP for typical multi-robot systems in real-life indoor environment","authors":"Chaoqun Wang, M. Meng","doi":"10.1109/ROBIO.2013.6739810","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739810","url":null,"abstract":"The RT-WMP is a token-passing protocol based protocol that applied to the mobile ad-hoc network. It has many advantages. For instance, it supports real-time traffic, multi-hop capabilities. Especially, the messages could be scheduled in the multi-robots communications so that the one with higher priority will be transmitted earlier. This paper analyzes the state-of-the-art of ad-hoc network protocols and evaluates the RT-WMP routing protocol for multi-robot systems in a typical indoor environment. Experimental results demonstrate that the RT-WMP protocol guarantees the priority of message transmission in real-time task implemented by the multi-robot system. In addition, the RT-WMP works steadily when we change the priority manually. This work is a benchmark for adding allocation strategies in the RT-WMP.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125929326","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739700
Yuuto Chokushi, Kanji Tanaka, Masatoshi Ando
We consider the task of long-term visual SLAM, i.e., simultaneous localization and mapping, in a partially changing environment (SLAM-PCE). The main problem we face is how to obtain discriminative and compact visual landmarks, which are necessary to cope with changes in appearance in an environment and with a large amount of visual information. We address this issue by proposing the use of common object patterns, which are inherent in typical environments (e.g., indoor, street, forests, suburban, etc.), as visual landmarks for a SLAM-PCE task. In our contributions, we describe our approach, “part-based SLAM”, and validate its effectiveness within a standard problem of view image retrieval. The main novelty of this approach lies in that the common landmark objects are extracted in an unsupervised manner via common pattern discovery, and can be used for compact characterization and efficient retrieval of view images. Our method is also innovative in its use of traditional bounding box-based part annotation: an image is represented in a compact form, “bag-of-bounding-boxes (BoBB)” and then, the scene matching can be solved efficiently as a low dimensional problem of matching bounding boxes. The results of challenging experiments show that it is possible to have high retrieval performance with compact image representation with only 16 words per image.
{"title":"Part-based SLAM for partially changing environments","authors":"Yuuto Chokushi, Kanji Tanaka, Masatoshi Ando","doi":"10.1109/ROBIO.2013.6739700","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739700","url":null,"abstract":"We consider the task of long-term visual SLAM, i.e., simultaneous localization and mapping, in a partially changing environment (SLAM-PCE). The main problem we face is how to obtain discriminative and compact visual landmarks, which are necessary to cope with changes in appearance in an environment and with a large amount of visual information. We address this issue by proposing the use of common object patterns, which are inherent in typical environments (e.g., indoor, street, forests, suburban, etc.), as visual landmarks for a SLAM-PCE task. In our contributions, we describe our approach, “part-based SLAM”, and validate its effectiveness within a standard problem of view image retrieval. The main novelty of this approach lies in that the common landmark objects are extracted in an unsupervised manner via common pattern discovery, and can be used for compact characterization and efficient retrieval of view images. Our method is also innovative in its use of traditional bounding box-based part annotation: an image is represented in a compact form, “bag-of-bounding-boxes (BoBB)” and then, the scene matching can be solved efficiently as a low dimensional problem of matching bounding boxes. The results of challenging experiments show that it is possible to have high retrieval performance with compact image representation with only 16 words per image.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125955890","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper proposed a biologically inpired handrail climbing robot "MonkeyBot" that could provide inspection and maintenance for the space station. Space debris is the biggest hazards for space station from the outer space. When a threat from orbital derbis is idenfitied a bit late, the station will be potentially damaged by the debris. MonkeyBot is designed to meet this challenge, especially for some key components or areas on the space station. MonkeyBot is a redundancy robot with four limbs, which not only has multi climbing strategies and gaits to achieve a full coverage of the space module, but also it has dexterous capability for on-orbit servicing with each limb. This paper will focus on the geometry design, mathematical modeling, workspace and dexterity analysis and climbing strategies and climbing gaits evaluation. The analysis result shows that the maneuverability surpasses the state of art space station exterior robot.
{"title":"A novel exterior climbing robot design for space station","authors":"Chengjiang Wang, Yongquan Chen, Meng Chen, Liangliang Han, Huihuan Qian, Yangsheng Xu","doi":"10.1109/ROBIO.2013.6739716","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739716","url":null,"abstract":"This paper proposed a biologically inpired handrail climbing robot \"MonkeyBot\" that could provide inspection and maintenance for the space station. Space debris is the biggest hazards for space station from the outer space. When a threat from orbital derbis is idenfitied a bit late, the station will be potentially damaged by the debris. MonkeyBot is designed to meet this challenge, especially for some key components or areas on the space station. MonkeyBot is a redundancy robot with four limbs, which not only has multi climbing strategies and gaits to achieve a full coverage of the space module, but also it has dexterous capability for on-orbit servicing with each limb. This paper will focus on the geometry design, mathematical modeling, workspace and dexterity analysis and climbing strategies and climbing gaits evaluation. The analysis result shows that the maneuverability surpasses the state of art space station exterior robot.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128478683","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739548
Fei Chen, F. Cannella, C. Canali, A. Eytan, A. Bottero, D. Caldwell
High flexibility and high speed is the goal for industrial manufacturing using robots. However, it is difficult to put them together due to the fact that they are contradicting with each other. To solve this problem, a new high reconfigurable gripper is proposed for robotic manipulator to improve its flexibility, so that the robot can accomplish an assembly task with shorter time. In this paper, the authors describe the general principles and concepts to define and design a new gripper. This new gripper has two degrees of freedom (DoFs) per finger and can support enough payload for manufacturing applications. The simple kinematics permits it to perform the function with high speed. Moreover, the same design concept can be applied to handle different workpieces within different scenarios. The physical models are shown as proof of this successful project.
{"title":"Theoretical and kinematic solution of high reconfigurable grasping for industrial manufacturing","authors":"Fei Chen, F. Cannella, C. Canali, A. Eytan, A. Bottero, D. Caldwell","doi":"10.1109/ROBIO.2013.6739548","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739548","url":null,"abstract":"High flexibility and high speed is the goal for industrial manufacturing using robots. However, it is difficult to put them together due to the fact that they are contradicting with each other. To solve this problem, a new high reconfigurable gripper is proposed for robotic manipulator to improve its flexibility, so that the robot can accomplish an assembly task with shorter time. In this paper, the authors describe the general principles and concepts to define and design a new gripper. This new gripper has two degrees of freedom (DoFs) per finger and can support enough payload for manufacturing applications. The simple kinematics permits it to perform the function with high speed. Moreover, the same design concept can be applied to handle different workpieces within different scenarios. The physical models are shown as proof of this successful project.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128541642","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739786
Bhuman Soni, A. Sowmya
In this study, we model the disaster victim detection problem as a sub-problem of a larger casualty assessment problem, and propose a framework to solve it. The framework of algorithm independent components contains a victim detector, detection history component and a human robot interaction component that presents information obtained by the robot in a meaningful manner. The algorithm independence of the victim detector component is demonstrated by experiments conducted in a simulated disaster scenario using a simple body parts detector that uses HOG features with an SVM classifier, and the state-of-the-art DPM body parts detector. A FastSLAM based mapping component is used to keep track of unique detections and the information is presented via a tab based user interface. The experiments demonstrate the effectiveness of the framework components with the rescue robot correctly identifying the victims and presenting a map of the disaster location with victim markers.
{"title":"Victim detection and localisation in an urban disaster site","authors":"Bhuman Soni, A. Sowmya","doi":"10.1109/ROBIO.2013.6739786","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739786","url":null,"abstract":"In this study, we model the disaster victim detection problem as a sub-problem of a larger casualty assessment problem, and propose a framework to solve it. The framework of algorithm independent components contains a victim detector, detection history component and a human robot interaction component that presents information obtained by the robot in a meaningful manner. The algorithm independence of the victim detector component is demonstrated by experiments conducted in a simulated disaster scenario using a simple body parts detector that uses HOG features with an SVM classifier, and the state-of-the-art DPM body parts detector. A FastSLAM based mapping component is used to keep track of unique detections and the information is presented via a tab based user interface. The experiments demonstrate the effectiveness of the framework components with the rescue robot correctly identifying the victims and presenting a map of the disaster location with victim markers.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127521564","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739483
Ping Jiang, Zhifeng Huang, Yanjiang Huang, R. Chiba, K. Takakusaki, J. Ota
This paper aims to investigate the function of constant feed-forward control from the reticulospinal tract (RST) on improving posture stability during standing from the viewpoint of ability to countering the disturbances. We presented a stance control model considering not only the balance control, a PD controller, from vestibular tract based on vestibular feedback but also the constant feed-forward control ur by reticulospinal tract. Parameters of PD controller, max muscle isometric force of back extensors and flexors and the constant strength of control from RST were optimized during a 3s forward dynamics simulation and the optimal ur was obtained. Then, we fixed the value of ur around the value of optimal one and only optimized other four parameters. After that, the abilities of countering the platform disturbance of the musculoskeletal (MSK) model under the control of different ur were investigated. As a result, we found that optimal ur would improve the posture stability and make MSK model more adaptive to the disturbance.
{"title":"Stance control model in consideration of feed-forward control by reticulospinal tract","authors":"Ping Jiang, Zhifeng Huang, Yanjiang Huang, R. Chiba, K. Takakusaki, J. Ota","doi":"10.1109/ROBIO.2013.6739483","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739483","url":null,"abstract":"This paper aims to investigate the function of constant feed-forward control from the reticulospinal tract (RST) on improving posture stability during standing from the viewpoint of ability to countering the disturbances. We presented a stance control model considering not only the balance control, a PD controller, from vestibular tract based on vestibular feedback but also the constant feed-forward control ur by reticulospinal tract. Parameters of PD controller, max muscle isometric force of back extensors and flexors and the constant strength of control from RST were optimized during a 3s forward dynamics simulation and the optimal ur was obtained. Then, we fixed the value of ur around the value of optimal one and only optimized other four parameters. After that, the abilities of countering the platform disturbance of the musculoskeletal (MSK) model under the control of different ur were investigated. As a result, we found that optimal ur would improve the posture stability and make MSK model more adaptive to the disturbance.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127114913","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739745
Shuning Han, Peipei Kang, Gangdun Liu, F. Duan, Jing Yuan, J. T. Tan, Jingtai Liu
This paper proposes a new approach for a mobile robot to avoid obstacles based self-defined landmarks when it moves in the indoor environment. In this work, a 2D laser rangefinder is employed to detect the interior environment. The environmental maps, including global map and local map, are built by a series of feature extraction algorithms. Then, depending on self-defining landmarks, the mobile robot realizes its localization process through the feature association algorithm based on the optimal matching vertex. There are three factors that mainly influence the path selection process of the mobile robot: 1) the position information of the designated obstacle in the global map; 2) the external dimensions of the mobile robot; 3) the accuracy of the 2D laser rangefinder. To verify the effect of this proposed approach, an experiment has been done for the mobile robot to bypass a designated obstacle in the indoor environment. The experimental results show that the proposed approach is feasible to let the mobile robot bypass the designated obstacle along the selected path in the indoor environment, and the success rate is more than 80%.
{"title":"An designated obstacle monitoring approach based on self-defined landmarks for a mobile robot","authors":"Shuning Han, Peipei Kang, Gangdun Liu, F. Duan, Jing Yuan, J. T. Tan, Jingtai Liu","doi":"10.1109/ROBIO.2013.6739745","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739745","url":null,"abstract":"This paper proposes a new approach for a mobile robot to avoid obstacles based self-defined landmarks when it moves in the indoor environment. In this work, a 2D laser rangefinder is employed to detect the interior environment. The environmental maps, including global map and local map, are built by a series of feature extraction algorithms. Then, depending on self-defining landmarks, the mobile robot realizes its localization process through the feature association algorithm based on the optimal matching vertex. There are three factors that mainly influence the path selection process of the mobile robot: 1) the position information of the designated obstacle in the global map; 2) the external dimensions of the mobile robot; 3) the accuracy of the 2D laser rangefinder. To verify the effect of this proposed approach, an experiment has been done for the mobile robot to bypass a designated obstacle in the indoor environment. The experimental results show that the proposed approach is feasible to let the mobile robot bypass the designated obstacle along the selected path in the indoor environment, and the success rate is more than 80%.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127176759","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739612
Donny K. Sutantyo, P. Levi
In this paper, the frog-call-inspired anti-phase synchronization algorithm is investigated and applied to allocate communication time slots among robotic swarms. The main goal of the work is to solve interference and jamming problems which becomes vital in swarm robot communication and sensing, especially in underwater application. A novel distributed model of this biologically-inspired approach is investigated to improve scalability and enable decentralization of the algorithm. It is proven from the simulated experiment that the model can be applied for scheduling underwater swarm communication within a limited local communication range, however with an acceptable amount (less than 5%) of packet loss. In the end, a real robot experiment using underwater swarm robot platforms is also presented.
{"title":"A bio-inspired TDMA scheduling algorithm for underwater robotic swarms","authors":"Donny K. Sutantyo, P. Levi","doi":"10.1109/ROBIO.2013.6739612","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739612","url":null,"abstract":"In this paper, the frog-call-inspired anti-phase synchronization algorithm is investigated and applied to allocate communication time slots among robotic swarms. The main goal of the work is to solve interference and jamming problems which becomes vital in swarm robot communication and sensing, especially in underwater application. A novel distributed model of this biologically-inspired approach is investigated to improve scalability and enable decentralization of the algorithm. It is proven from the simulated experiment that the model can be applied for scheduling underwater swarm communication within a limited local communication range, however with an acceptable amount (less than 5%) of packet loss. In the end, a real robot experiment using underwater swarm robot platforms is also presented.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127316985","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739836
Wenkai Wu, Qing He, Yongkang Wang, Y. Hu, Baopu Li, Bin Leng, Guan Guan, Haibin Wang, Hehui Zou
This paper proposes an improved method of Vibe (Visual background extractor) based on Opencv (Open Source Computer Vision Library) on Android operating system. It briefly introduced the processing procedures which build the development environment with Opencv4 Android and implement this application program by using the Android framework. The step of using JNI (Java Native Interface) to call the native functions of OpenCV is explained and the using of Android SDK (Software Development Kit) and NDK (Native Development Kit) to generate shared library are also mentioned. Besides, this paper achieves some improvements of Vibe, a motion detection method, involving shadow elimination and noise inhibition. Android is the most popular system on mobile platform, more and more mobile devices are equipped with Android. So it is worthy to implement the motion detection computer vision algorithm based on Android Opera System. And the experiment results show the effectiveness of the proposed method based on Android system.
{"title":"An improved method of Vibe for motion detection based on Android system","authors":"Wenkai Wu, Qing He, Yongkang Wang, Y. Hu, Baopu Li, Bin Leng, Guan Guan, Haibin Wang, Hehui Zou","doi":"10.1109/ROBIO.2013.6739836","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739836","url":null,"abstract":"This paper proposes an improved method of Vibe (Visual background extractor) based on Opencv (Open Source Computer Vision Library) on Android operating system. It briefly introduced the processing procedures which build the development environment with Opencv4 Android and implement this application program by using the Android framework. The step of using JNI (Java Native Interface) to call the native functions of OpenCV is explained and the using of Android SDK (Software Development Kit) and NDK (Native Development Kit) to generate shared library are also mentioned. Besides, this paper achieves some improvements of Vibe, a motion detection method, involving shadow elimination and noise inhibition. Android is the most popular system on mobile platform, more and more mobile devices are equipped with Android. So it is worthy to implement the motion detection computer vision algorithm based on Android Opera System. And the experiment results show the effectiveness of the proposed method based on Android system.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129043190","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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