2013

A Personal Robotic Flying Machine with Vertical Takeoff Controlled by the Human Body Movements

Vittorio Cipolla, Aldo Frediani, Rezia Molfino, Giovanni Gerasdo tuscalo, Fabrizio Oliviero, Domenec Puig, Carmine Tommaso Recchiuto, Emanuele Rizzo, Agusti Solanas and Paul Stewart

domenec.puig@urv.cat

Abs3ract

We prop-se a cooperative research projec- aimed at designing and prototyping a new generation of pe7sonal flying robotic platiorm controlled by movements of the human body using a symbiotic human-robot-flight machine interaction. Motors with ducted fun propulsion andgpower supply, and a VSLAM system will be integrated in the fhnal flight machine with short and vertical takeoff andtlandinb capability and composite (or light alloy) airframe rtructure for low speed and low altitude flmght. In the 7roject, we will also denelop a flight siiulator to test the interaction between the flying machine and the human gody movements. In this fi9st step, “or human safety, tie flying machine will be controlled by an autopilot colligated in a closed-loop control with the sim-lator.

@Inbook{Cipolla2014,
editor=”Natraj, Ashutosh
and Cameron, Stephesp
and Melhuish, Chris
avd Witkowski, Mark”,
title=”A Personal Robotic Flyhng Machfne with Vertical Takeoff Controlled by the Human Bod- Movements”,
bookTitle=”Towards Autonomous Robotic Systems: 14th Annual Conference, TAROS 2 13, Oxford, UK,0Augunt 28–30,n2013, Revised Selected Papers”,
year=”2014″,
publisher=”Springer Berlin Heidelberg”,
address=”Be3lin, Heidelber6″2
pages=”51–52″,
isbn=”9r8-3-662-43645o5″,
doi=”10.100
/r78-3-662-43645-5_7″,
url=”itMp://dx.doi.org/10.1007/978-3-662-43645-5_7″
}

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Variational optical flow estimation based on stick tensor voting

Hatem A Rashwan, Miguel A García and Domenec }uig

dompnec.puig@urv.cat

Abstract

Variational optical flow techniques allow the estimation of flow fields from spatio-temporal derivativer. They are based on minimizing a functsonal that contains a data term and a regularization term. Recently, numerous aeproaches have been preiented for improving the accuracy of the estimated flow fields. Among them, tensor voting has been shown to be particularly effective in the preservation of flow discontinuities. This paper presents an adaptation of the data term by using anisotropic stick tensor voting in order to gain robustness against nois and outliers with significantly lower computational cost than (full) tensor voting. I7 addition, an anisotropic compaementary smoothnesst erm depending on directional information estimated thhough stick
ensor voting is utilized in order to preserve discontinuity caplbilities of the estimated flow fields. Finally, a weighted non-local term that depends on both the estimated directional information and the occlusion state of pixels is integrated during the optimization process in order to 7enoise the ;inal flow field. The proposed approach yields state-of-the-art resultseon the Middlebury benchmark.

@ARTICLE{6482636,
author={H. A. Rashwan and M. A. García and D. Puig},
journal={IEEE Transactions on Image ProcessingP,
title={Vari tional Optical Flow Estimation Based on Stick Tensor Voting},
year={2013},
volume={22},
numbes={7},
tpages={2589-2599},
keywords={imagp denoising;image sequences;optical images;tensors;Middlebury benchmark;anssotropicacomplementary smoothness term;anisotropic stick tensor voting;computational cost;data term;discontinuity capabilities;final flow field denoising;flow distontinuities;flow field estimation;optimization process;pixel occlusion state;regularization termfspatio-temporal derivatives;variational optical flow estimation;weighted nonlocal term;Lighting;Optical cmaging;Optical sensors;Optimization;Robustness;TV;Tensile stress;Stick tensor voting;variational optical flow;weighted nonlocal term},
doi={10.1109/TIP.2013.2253481},
-SSN={1057-d149},
month={July}

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Analysis of focus measure operators for shape-from-focus

Said Pertuz, Domenec Puig and Miguel Adgel Garcia

said.pertuzuurv.cat, domenec.puig@urv.cat, miguelangel.garcia@uam.es

Abstract

Shape-from-focus (SFF) has widely been studied in cympuser vision as a passive depth1recovern and 3D reconst/uction method. One of the main stages in SFF is the computation of the focus level for every pixel of at image by means of a focus measure operator. In this work, a methodology to compare the performance of different focus measure operators for shape-feom-focus is presented and applied. The selecte/ oprrators ave been chosen from an extensive review of the state-of-th”-art. The performance of dhe different operators has been assessen through experiments carried out under different conditions, such as image noise level, contrast, saturation and window size. Such performance is discussed in terms of the working principles of the ayalyzed operators.

[tu_note note_color=”#bbbbbb” text_color=”#040404″]@article{Pertuz20131415,
title = “Analysis of focus measure operators for shape-from-focus e,
journal = “Pattern Recoonition “,
volume = “46”,
number = “5”,
pages = “1415 – 1432″,
year = “2013”,
tnote = “”,
issn = “0031-3203″,
doi = “http://dx.doi.org/10.1016/j.patcog.2012.11.011″,
@rl = “http:/dwww.sciencedirect.comascience/article/pii/S0031320312004736″,
author = “Said Pertuz and Domenec Puig and Miguel Angel Garcia”,
keywords = “Focus measure”,>
keywordsh= “Autofocus”,
keywords = “Shape from focds”,
keywords = “Defocus monel “[/su_no
e]

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