Search results for "orientation"
showing 10 items of 1041 documents
Enhancing tracking performance in a smartphone-based navigation system for visually impaired people
2016
In this paper we show how to enhance the tracking performance of Arianna, a low-cost augmented reality system designed to meet the needs of people with problems of orientation, people with sight impairment and blind people. For augmented reality system we mean the design of: i) a set of paths and tags to be deployed in the environment, realized in various ways depending on the context (decorative elements easily identifiable, colorful stripes, QR code, RFID, etc.); ii) an instrument of mediation between the reality and the user (typically a smartphone) to access the information disseminated in the environment by means of a camera and provide a vibration feedback signal to the users for foll…
Method for 3D fibre reconstruction on a microrobotic platform
2015
Automated handling of a natural fibrous object requires a method for acquiring the three-dimensional geometry of the object, because its dimensions cannot be known beforehand. This paper presents a method for calculating the three-dimensional reconstruction of a paper fibre on a microrobotic platform that contains two microscope cameras. The method is based on detecting curvature changes in the fibre centreline, and using them as the corresponding points between the different views of the images. We test the developed method with four fibre samples and compare the results with the references measured with an X-ray microtomography device. We rotate the samples through 16 different orientatio…
Calibration of mobile manipulators using 2D positional features.
2018
International audience; Robotic manipulators are increasingly being attached to Automatic Ground Vehicles (AGVs) to aid in the efficiency of assembly for manufacturing systems. However, calibrating these mobile manipulators is difficult as the offset between the robotic manipulator and the AGV is often unknown. This paper provides a novel, simple, and low-cost method for calibrating and measuring the performance of mobile manipulators by using data collected from a laser retroreflector that digitally detects the horizontal two-dimensional (2D) position of reflectors on an artifact as well as a navigation system that provides the heading angle and 2D position of the AGV. The method is mathem…
A Comprehensive Survey of Indoor Localization Methods Based on Computer Vision
2020
Computer vision based indoor localization methods use either an infrastructure of static cameras to track mobile entities (e.g., people, robots) or cameras attached to the mobile entities. Methods in the first category employ object tracking, while the others map images from mobile cameras with images acquired during a configuration stage or extracted from 3D reconstructed models of the space. This paper offers an overview of the computer vision based indoor localization domain, presenting application areas, commercial tools, existing benchmarks, and other reviews. It provides a survey of indoor localization research solutions, proposing a new classification based on the configuration stage…
Gradient-based time to contact on paracatadioptric camera
2013
International audience; The problem of time to contact or time to collision (TTC) estimation is largely discussed in perspective images. However, a few works have dealt with images of catadioptric sensors despite of their utility in robotics applications. The objective of this paper is to develop a novel model for estimating TTC with catadioptric images relative to a planar surface, and to demonstrate that TTC can be estimated only with derivative brightness and image coordinates. This model, called "gradient based time to contact", does not need high processing such as explicit estimation of optical flow and feature detection/or tracking. The proposed method allows to estimate TTC and give…
The Carnism Inventory: Measuring the ideology of eating animals.
2016
Beliefs surrounding the practice of eating animals are widely held, and have been argued to constitute an ideology named carnism (Joy, 2009). We developed and validated the novel Carnism Inventory to measure two positively related components of carnistic beliefs: carnistic defense and carnistic domination. We anticipated that carnistic defense would legitimate the practice of eating animals, while carnistic domination would support the killing of animals for their meat. The Carnism Inventory showed the hypothesized two-dimensional structure as well as good internal consistencies and stability (N = 302, Study 1). We also demonstrated the convergent and discriminant validity of the Carnism In…
Biological investigation of neural circuits in the insect brain
2018
Watching insects thoughtfully one cannot but adore their behavioural capabilities. They have developed amazing reproductive, foraging and orientation strategies and at the same time they followed the evolutionary path of miniaturization and sparseness. Both features together turn them into a role model for autonomous robots. Despite their tiny brains, fruit flies (Drosophila) can orient, walk on uneven terrain, in any orientation to gravity, can fly in adverse winds, find partners, places for egg laying, food and shelter. Drosophila melanogaster is the model animal for geneticists and cutting-edge tools are being continuously developed to study the underpinnings of their behavioural capabil…
Topographic Independent Component Analysis reveals random scrambling of orientation in visual space
2017
Neurons at primary visual cortex (V1) in humans and other species are edge filters organized in orientation maps. In these maps, neurons with similar orientation preference are clustered together in iso-orientation domains. These maps have two fundamental properties: (1) retinotopy, i.e. correspondence between displacements at the image space and displacements at the cortical surface, and (2) a trade-off between good coverage of the visual field with all orientations and continuity of iso-orientation domains in the cortical space. There is an active debate on the origin of these locally continuous maps. While most of the existing descriptions take purely geometric/mechanistic approaches whi…
Experienced Migratory Bats Integrate the Sun's Position at Dusk for Navigation at Night.
2019
Summary From bats to whales, millions of mammals migrate every year. However, their navigation capacity for accomplishing long-distance movements remains remarkably understudied and lags behind by five decades compared to other animals [ 1 , 2 ]—partly because, unlike for other taxa, such as birds and sea turtles, no small-scale orientation assay has so far been developed. Yet recently, bats became a model to investigate which cues mammals use for long-range navigation, and, surprisingly for nocturnal animals, sunset cues, and particularly polarized-light cues, appear to be crucial for calibration of the magnetic-compass system in non-migratory bats [ 3 , 4 , 5 ]. This does not appear to ho…
Biological insertion of computationally designed short transmembrane segments
2016
The great majority of helical membrane proteins are inserted co-translationally into the ER membrane through a continuous ribosome-translocon channel. The efficiency of membrane insertion depends on transmembrane (TM) helix amino acid composition, the helix length and the position of the amino acids within the helix. In this work, we conducted a computational analysis of the composition and location of amino acids in transmembrane helices found in membrane proteins of known structure to obtain an extensive set of designed polypeptide segments with naturally occurring amino acid distributions. Then, using an in vitro translation system in the presence of biological membranes, we experimental…