Optoelectronic Devices in Robotic Systems

Preface
An Overview of Optoelectronic Devices in Robotic Systems
Acknowledgments
Contents
Editors and Contributors
About the Authors
Contributors
Abbreviations
3D Model-Based Tracking of Puppet in Depth Images for the Dynamic Video-Mapping of Its Suit
1 Introduction
1.1 Motivation
1.2 Related Works
1.3 Real-Time Estimation of Every Puppet DoF
1.4 Chapter Outline
2 Video-Mapping Setup Modeling and Calibration
2.1 Geometrical Modeling
2.2 Calibration
2.2.1 RGBD Camera Calibration
2.2.2 Video-Projector Calibration
3 Silhouette-Based Visual Tracking
3.1 3D Model Silhouette Computation
3.2 Silhouette Samples Tracking
3.3 Pose Computation
3.4 Joint Angles Computation
3.5 Solving the 3D Pose and Joint Angles Together
4 Puppet Dynamic Video-Mapping Demonstrations
4.1 Hardware Setup and Software
4.2 Video-Mapping
4.3 Dynamic Video-Mapping
4.3.1 Rigid Puppet
4.3.2 Articulated Puppet
4.3.3 Video
5 Discussion
6 Conclusion
References
Aerial Robotics for Precision Agriculture: Weeds Detection Through UAV and Machine Vision
1 Introduction
2 Monitoring Scenario
3 Aerial Robotic System
3.1 UAV
3.2 RGB, Multispectral, and Hyperspectral Cameras and Laser Scanners
4 Computer Vision
4.1 Fully Convolutional Neural Networks
4.1.1 SegNet
4.1.2 U-Net
4.1.3 RefineNet with ResNet Backbone
4.2 Capsule Neural Networks
5 Edge Computing
5.1 Origin of Edge Computing
5.2 Edge Computing in Precision Agriculture
5.3 Edge Computing Hardware for Computer Vision Tasks
6 Conclusions
References
Zooming Assisted Stereo Matching
1 Introduction
2 Zoom-Stereo Image Formation
2.1 Image Rectification
3 Cost Aggregation
4 Experiments
5 Conclusion
References
ROS and Stereovision Collaborative System
Abbreviations
1 Introduction
2 Background
2.1 Stereovision
2.1.1 Stereo System Array
2.1.2 Image Capture
2.1.3 Correspondence
2.1.4 Matching Algorithms
2.1.5 Disparity Map
2.1.6 Depth Map
2.1.7 Stereovision for Collaborative System
2.2 Rotational Optical Scanner
2.2.1 Aperture
2.2.2 Dynamic Triangulation
3 Optimization of ROS and Stereovision Combined Use
3.1 Collaborative System
3.1.1 High Data Volume
3.1.2 High Precision
3.1.3 Regions of Interest
3.1.4 Field of View Synchronization
3.1.5 Data Link for Depth Enrichment
3.1.6 Calibration
3.1.7 Depth Estimation Time
4 Summarized Description of Stereovision and ROS Cooperative Use
5 Solutions and Recommendations
6 Future Research Directions
7 Conclusion
Appendix A
Appendix B
References
Self-attention for 2D Hand Pose Estimation
1 Robots and Humanity
2 Human Pose Estimation
2.1 Notable Approaches
2.1.1 Two-Stage Pipelines
2.1.2 Single-Stage Pipelines
2.2 Methodology
2.2.1 Proposed Architecture
2.2.2 Stem
2.2.3 Blur Pooling
2.2.4 Visual Attention
2.2.5 Attention Augmented Inverted Bottleneck Block
2.2.6 Subsampling
2.3 Training Settings
3 Evaluation
3.1 Datasets
3.2 Ablation Studies
3.3 Comparative Results
4 Conclusions
References
Visual-Inertial Navigation Systems and Technologies
Abbreviations
1 Introduction
2 VINS
3 Stereoscopic Vision Systems
4 Mobile Binocular Visual Inertial Odometry
5 Omnidirectional Visual-Inertial Navigation Systems
6 Laser Scanner Systems
7 LIDAR Odometry and Mapping
8 Surgical Navigation Robots
9 Conclusions
References
Development of a Doppler Anemometry Method for Diagnosing Two-Phase Flows in a Liquid Metal Medium
Abbreviations
1 Introduction
2 Overview of Existing Methods
2.1 Patent Review
2.2 Methods of Ultrasonic Diagnostics
2.2.1 Amplitude-Shadow Method
2.2.2 Time-of-Flight Method (Echo Method)
2.2.3 Doppler Method
2.3 Piezoceramic Transducers
3 Development of the Method of Ultrasonic Diagnostics of Two-Phase Flows in a Liquid Metal Medium
4 Development of Sensors Based on Piezoelectric Transducers
5 Experiments
6 Conclusion
References
3D Reconstruction of Human Body Biometry
1 State of the Art
2 Geometric Reconstruction
2.1 Polygon Mesh
2.1.1 Representation of Meshes
2.2 Bezier Curves
2.2.1 Bezier Algorithm
2.2.2 Casteljau Algorithm
3 Volumetric Reconstruction
3.1 Voronoi Diagram
3.1.1 Divide and Conquer
3.1.2 Incremental Algorithm
3.2 Voxel Algorithm
3.2.1 Voxelization
3.2.2 Voxel-Based on a Neighborhood
3.2.3 Select Seed Voxel Groups and Neighborhood
4 Reconstruction of Human Body Surfaces
4.1 3D Spine Reconstruction
4.2 3D Chest Reconstruction
4.3 3D Face Reconstruction
4.4 3D Feet Reconstruction
4.5 3D Head Reconstruction
5 Human Body Modeling Approaches' Comparison
5.1 Measurements of Biometric Parameters
5.1.1 Deformities' Analysis in Foot
5.1.2 Deformities' Analysis in Chest
6 Technical Vision System for 3D Human Body Measurements
6.1 Dynamic Triangulation Principle
6.2 Positioning Laser and Scanning Aperture
6.3 3D Reconstruction in Point Cloud Captured by the TVS
7 Conclusion
References
Fuzzy Decision-Making for Intelligent Robotic System
Abbreviations
1 Introduction
2 Fuzzy Expressions and Their Description in Automated Control Systems (ACS)
3 Individual Strategy Planning in ACS
4 Multistep Strategy Planning
5 Fuzzy Adaptive Robot Control Modeling
6 Conclusions
References
3D and 2D Visual Digital Technologies and Cultural Heritage Documentation for Conservation and Monitoring: A Critical Review and Assessment
Abbreviations
1 Introduction and Scope
2 A Critical Review and Assessment of the Difference Between CH Terms Within Conservation and Monitoring: Surveying, Recording and Documentation
2.1 How Does One Define the Term CH Documentation in the Context of Conservation and Monitoring?
3 Critical Review, Assessment, and Investigation of 3D and 2D Visual Digital Technologies for CH Documentation and Project Team(s) Within Conservation and Monitoring
3.1 Visual and Photographic Inspection Techniques and Tools for CH Documentation
3.2 Who Is the CH Documentation Project Team(s?)
4 Discussion of Visual Digital CH Documentation Tools and Techniques, Sharing and Standards and Design Issues: Critical Evaluation
4.1 Is There a Need for Sharing and Documentation Standards or Guidelines?
4.2 Will Visual Digital Technology Completely Replace Traditional and More Labour-Intensive Methods for CH Documentation?
5 Summary and Concluding Remarks
References
Optoelectronic Navigation Systems of Autonomous Mobile Ground Robots in Non-deterministic Environment
Abbreviations
1 Introduction
1.1 Machine Vision Systems in Robotics
1.2 Timing of Self-Positioning in Robotics
1.3 Subtasks in Mobile Robotic Navigation
2 Mobile Robot Navigation Approaches/Techniques
2.1 Popular Methods
2.1.1 Method of Decomposition of Cells
2.1.2 Artificial Potential Field (APF) Method
2.1.3 Roadmap Method (RM)
2.2 Perceptive Approach Algorithms
2.2.1 Genetic Algorithm (GA)
2.2.2 Cuckoo Search (CS) Algorithm
2.2.3 Shuffled Frog Leaping Algorithm (SFLA)
2.2.4 Ant Colony Optimization (ACO)
2.2.5 Bacterial Foraging Optimization (BFO) Algorithm
2.2.6 Particle Swarm Optimization (PSO)
2.2.7 Neural Network (NN)
2.2.8 Firefly Algorithm (FA)
2.2.9 Fuzzy Logic (FL)
2.3 Other Miscellaneous Algorithms [OMA]
2.4 Methods to Solve Subtasks in Mobile Robotic Navigation
3 Fundamentals and Problems in Mobile Robotic Navigation
3.1 Practical Specialties of the 3D Laser Scanner Functioning
3.2 Problems of Laser Spot Shape Imperfections
3.3 Problems of MR Group
3.4 Scanning from Various Positions of the 3D Laser Scanner
3.5 Problems of Simultaneous Data Fusion of 3D Laser Scans
4 Strategy of Mobile Robot Navigation
4.1 Practical Specialties of the 3D Laser Scanner Functioning
4.2 Problems of Laser Spot Shape Imperfections
4.3 Onboard Robot Reference Clock Validation
4.4 Neural Networks' Application on 3D Measurement Error Decrease
4.5 TVS Functioning with a Variable Scanning Step for Faster Search
4.6 Path Planning for MR Navigation
5 Conclusions and Outlook
References
Index