A fast evaluation criterion for the recognition of occluded shapes

Ozen, S.; Bouganis, Alexandros; Shanahan, Murray

doi:10.1016/j.robot.2007.05.017

Cited by 8 publications

(3 citation statements)

References 22 publications

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“…Intensity-based servoing offers robustness without the need for feature extraction or pose estimation [79]. Generalised angle representation which is translation, rotation and scale invariant offers a rapid means of computing shape [80]. Laser scanning offers a means to supplement vision with range-finding uncorrupted by scene illumination [81].…”

Section: Space Manipulator Operations-evolution From Teleoperation Tomentioning

confidence: 99%

Tutorial Review on Space Manipulators for Space Debris Mitigation

Ellery

2019

Robotics

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Space-based manipulators have traditionally been tasked with robotic on-orbit servicing or assembly functions, but active debris removal has become a more urgent application. We present a much-needed tutorial review of many of the robotics aspects of active debris removal informed by activities in on-orbit servicing. We begin with a cursory review of on-orbit servicing manipulators followed by a short review on the space debris problem. Following brief consideration of the time delay problems in teleoperation, the meat of the paper explores the field of space robotics regarding the kinematics, dynamics and control of manipulators mounted onto spacecraft. The core of the issue concerns the spacecraft mounting which reacts in response to the motion of the manipulator. We favour the implementation of spacecraft attitude stabilisation to ease some of the computational issues that will become critical as increasing level of autonomy are implemented. We review issues concerned with physical manipulation and the problem of multiple arm operations. We conclude that space robotics is well-developed and sufficiently mature to tackling tasks such as active debris removal.

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Section: Space Manipulator Operations-evolution From Teleoperation Tomentioning

confidence: 99%

Tutorial Review on Space Manipulators for Space Debris Mitigation

Ellery

2019

Robotics

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“…In many applications, boundaries are represented using polygonal approximation [1][2][3][4][5][6][7][8]. The problem of dominant points detection is to determine the points only from a digital curve for such representation.…”

Section: Introductionmentioning

confidence: 99%

PRO: A Novel Approach to Precision and Reliability Optimization Based Dominant Point Detection

Prasad

2013

Journal of Optimization

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A novel method that uses both the local and the global nature of fit for dominant point detection is proposed. Most other methods use local fit to detect dominant points. The proposed method uses simple metrics like precision (local nature of fit) and reliability (global nature of fit) as the optimization goals for detecting the dominant points. Depending on the desired level of fitting (very fine or crude), the threshold for precision and reliability can be chosen in a very simple manner. Extensive comparison of various line fitting algorithms based on metrics such as precision, reliability, figure of merit, integral square error, and dimensionality reduction is benchmarked on publicly available and widely used datasets (Caltech 101, Caltech 256, and Pascal (2007, 2008, 2009, 2010) datasets) comprising 102628 images. Such work is especially useful for segmentation, shape representation, activity recognition, and robust edge feature extraction in object detection and recognition problems.

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“…Papers address issues of robot hardware [2], intelligent sensor signal interpretation [3][4][5][6][7], biologically inspired approaches [8,9], robot learning [10], mobile robot applications [11,12] and robot theory [13].…”

mentioning

confidence: 99%