IAS-LAB PUBLICATIONS
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Authors: + AVENIDA D MANUEL L, 27A 2 ESQUERDO, SETUBAL, 2910-595, PORTUGAL; eng 2-s2.0-58149140239
Journal: Italy||Italy||Italy||Italy
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
Volume: Gasperin A.; Ardito C.; Grisan E.; Menegatti E. Pages: Gasperin||Ardito||Grisan||Menegatti-In image-based robot navigation, the robot localises itself by comparing images taken at its current position with a set of reference images stored in its memory. The problem is then reduced to find a suitable metric to compare images, and then to store and compare efficiently a set of images that grows quickly as the environment widen. The coupling of omnidirectional image with Fouriersignature has been previously proved to be a viable framework for image-based localization task, both with regard to data reduction and to image comparison. In this paper, we investigate the possibility of using a space variant camera, with the photosensitive elements organised in a log polar layout, thus resembling the organization of the primate retina. We show that an omnidirectional camera using this retinal camera, provides a further data compression and excellent image comparison capability, even with very few components in the Fourier signature.
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Authors: 538 345 E 47TH ST, NEW YORK, NY 10017 USA; eng 2-s2.0-67649687094
Journal: Italy||Italy||Italy
Published: IEEE Computer Society
DOI: University of Padua||University of Padua||ISIB-CNR
4813922
Volume: Pretto A.; Menegatti E.; Pagello E. Pages: Pretto||Menegatti||Pagello-This paper describes a visual feature detector and descriptor scheme designed to address the specific problems of humanoid robots in the tasks of visual odometry, localization, and SLAM (Simultaneous Localization And Mapping). During walking, turning, and squatting movements, the camera of a humanoid robot moves in jerky and sometimes unpredictable way. This causes an undesired motion blur in the images grabbed by the robot camera, that negatively affects the performance of the image processing algorithms. Indeed, the classical features detector and descriptor filtering techniques, that proved to work so well for wheeled robots, do not perform so reliably in humanoid robots. This paper presents a method to detect image interest points (invariant to scale transformation and rotations) robust to motion-blur introduced by the camera motion. Our approach is based on a preprocessing step to estimate the Point Spread Function (PSF) of the motion blur. The PSF is used to deconvolve the image reducing the blur. Then, we apply a feature detector inspired by SURF approach and the feature descriptor from SIFT. Experiments performed on standard datasets corrupted with motion blur and on images taken by a camera mounted on a small humanoid robot show the effectiveness of the proposed technique. Our approach presents higher performances and higher reliability in matching features in the different images of a sequence affected by motion-blur. © 2008 IEEE.
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Authors: AREA MIN. 10 - Scienze dell'antichita,filologico-letterarie e storico-artistiche; 2015-06-05T01:32:11Z; 9788886868204
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
W2621976728
Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; Non assegn; ITA; 2015-06-05T02:56:48Z
Published: title_year
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Authors: + HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY; eng 2-s2.0-38049104028
Journal: Italy||Italy||Italy||Japan||Japan||Japan
Published: false
Volume: Pretto A.; Menegatti E.; Pagello E.; Jitsukawa Y.; Ueda R.; Arai T. Pages: Pretto||Menegatti||Pagello||Jitsukawa||Ueda||Arai-This paper describes a similarity measure for images to be used in image-based localization for autonomous robots with low computational resources. We propose a novel signature to be extracted from the image and to be stored in memory. The proposed signature allows, at the same time, memory saving and fast similarity calculation. The signature is based on the calculation of the 2D Haar Wavelet Transform of the gray-level image. We present experiments showing the effectiveness of the proposed image similarity measure. The used images were collected using the AIBOs ERS-7 of the RoboCup Team Araibo of the University of Tokyo on a RoboCup field, however, the proposed image similarity measure does not use any information on the structure of the environment and do not exploit the peculiar features of the RoboCup environment. © Springer-Verlag Berlin Heidelberg 2007.
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Authors: AREA MIN. 11 - Scienze storiche, filosofiche, pedagogiche e psicologiche; 2015-06-05T04:45:19Z
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
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Authors: + 345 E 47TH ST, NEW YORK, NY 10017 USA; eng 2-s2.0-36348932738
Journal: Italy||Italy||Italy||Italy||United States
Published: false
DOI: IT+Robotics srl||IT+Robotics srl||IT+Robotics srl||University of Padua||Guatti Albano
4209565
Volume: Menegatti E.; Pretto A.; Tonello S.; Lastra A.; Guatti A. Pages: Menegatti||Pretto||Tonello||Lastra||Guatti-This video shows the interactive robotic sculpture conceived and realized by the artist Albano Guatti. The robotic part was totally developed by people at the IAS-lab and at IT+Robotics according to Guatti's concept. This work is the result of the meeting of robotics and art. The video shows that the robot is able to locate people in the environment, to navigate toward them avoiding the obstacles and to approach them as a polite waiter will do. In fact, the sculpture represents a waiter and a waitress (actually their suits, the statue do not have a body, they represent empty suits). The waiters chat among them (by play different pre-recorded voice files) while wandering in the environment. Once the robot locates a person and get close to her, it asks the customer one out of different pre-recorded questions. The more likely is: Would you like a drink?, that is the title of the sculpture. © 2007 IEEE.
W2071265781
Authors: + 233 SPRING STREET, NEW YORK, NY 10013, UNITED STATES
Published: doi
DOI: closed
scopus.description.abstract||scopus.relation.conferencename||scopus.subject.keywords||scopus.relation.conferencedate||scopus.description.allpeopleoriginal||scopus.relation.conferenceplace||scopus.relation.volume
Authors: eng 2-s2.0-67650233755
Journal: Italy||Italy
Published: title_year
DOI: The University of Padua||The University of Padua
Volume: Guseo T.; Menegatti E. Pages: Guseo||Menegatti-In this paper, we present a solution for the interpolation of low resolution digital images. Many digital cameras can function in two resolution modes: VGA (i.e., 640×480) and QVGA (i.e., 320×240). These cameras use a single sensor covered with a Color Filter Array (CFA). The CFA allows only one color component to be mea-sured at each pixel, the remaining color components must be interpolated, this operation is called demosaicing. There is not a standard way to interpolate the QVGA Bayer pattern and most of the known demosaicing al-gorithms are not suitable. In this paper, we propose a new solution for the interpolation of QVGA Bayer pattern. Experimental results using digital images and an evaluation function confirm the effectiveness of the interpolation method. The use of the QVGA resolution is important in low-cost and low-power embedded hardware. As an application, we chose the RoboCup domain and in particular our Robovie-M humanoid robot competing in the RoboCup Kid-Size Humanoids League.