Download or read book Calibrage de cam ra fisheye et estimation de la profondeur pour la navigation autonome written by Pierre-André Brousseau and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Ce mémoire s'intéresse aux problématiques du calibrage de caméras grand angles et de l'estimation de la profondeur à partir d'une caméra unique, immobile ou en mouvement. Les travaux effectués se situent à l'intersection entre la vision 3D classique et les nouvelles méthodes par apprentissage profond dans le domaine de la navigation autonome. Ils visent à permettre la détection d'obstacles par un drone en mouvement muni d'une seule caméra à très grand angle de vue. D'abord, une nouvelle méthode de calibrage est proposée pour les caméras fisheyes à très grand angle de vue par calibrage planaire à correspondances denses obtenues par lumière structurée qui peuvent être modélisée par un ensemble de caméras génériques virtuelles centrales. Nous démontrons que cette approche permet de modéliser directement des caméras axiales, et validons sur des données synthétiques et réelles. Ensuite, une méthode est proposée pour estimer la profondeur à partir d'une seule image, à partir uniquement des indices de profondeurs forts, les jonctions en T. Nous démontrons que les méthodes par apprentissage profond sont susceptibles d'apprendre les biais de leurs ensembles de données et présentent des lacunes d'invariance. Finalement, nous proposons une méthode pour estimer la profondeur à partir d'une caméra en mouvement libre à 6 degrés de liberté. Ceci passe par le calibrage de la caméra fisheye sur le drone, l'odométrie visuelle et la résolution de la profondeur. Les méthodes proposées permettent la détection d'obstacle pour un drone.

Download or read book Multibody System Dynamics Robotics and Control written by Hubert Gattringer and published by Springer Science & Business Media. This book was released on 2013-01-06 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

Download or read book Network Coding written by Khaldoun Al Agha and published by John Wiley & Sons. This book was released on 2012-12-27 with total page 171 pages. Available in PDF, EPUB and Kindle. Book excerpt: Network coding, a relatively new area of research, has evolved from the theoretical level to become a tool used to optimize the performance of communication networks – wired, cellular, ad hoc, etc. The idea consists of mixing “packets” of data together when routing them from source to destination. Since network coding increases the network performance, it becomes a tool to enhance the existing protocols and algorithms in a network or for applications such as peer-to-peer and TCP. This book delivers an understanding of network coding and provides a set of studies showing the improvements in security, capacity and performance of fixed and mobile networks. This is increasingly topical as industry is increasingly becoming more reliant upon and applying network coding in multiple applications. Many cases where network coding is used in routing, physical layer, security, flooding, error correction, optimization and relaying are given – all of which are key areas of interest. Network Coding is the ideal resource for university students studying coding, and researchers and practitioners in sectors of all industries where digital communication and its application needs to be correctly understood and implemented. Contents 1. Network Coding: From Theory to Practice, Youghourta Benfattoum, Steven Martin and Khaldoun Al Agha. 2. Fountain Codes and Network Coding for WSNs, Anya Apavatjrut, Claire Goursaud, Katia Jaffrès-Runser and Jean-Marie Gorce. 3. Switched Code for Ad Hoc Networks: Optimizing the Diffusion by Using Network Coding, Nour Kadi and Khaldoun Al Agha. 4. Security by Network Coding, Katia Jaffrès-Runser and Cédric Lauradoux. 5. Security for Network Coding, Marine Minier, Yuanyuan Zhang and Wassim Znaïdi. 6. Random Network Coding and Matroids, Maximilien Gadouleau. 7. Joint Network-Channel Coding for the Semi-Orthogonal MARC: Theoretical Bounds and Practical Design, Atoosa Hatefi, Antoine O. Berthet and Raphael Visoz. 8. Robust Network Coding, Lana Iwaza, Marco Di Renzo and Michel Kieffer. 9. Flow Models and Optimization for Network Coding, Eric Gourdin and Jeremiah Edwards.

Download or read book Geometric Control and Nonsmooth Analysis written by Fabio Ancona and published by World Scientific. This book was released on 2008 with total page 377 pages. Available in PDF, EPUB and Kindle. Book excerpt: The aim of this volume is to provide a synthetic account of past research, to give an up-to-date guide to current intertwined developments of control theory and nonsmooth analysis, and also to point to future research directions.

Download or read book Robot Vision written by Gerald Sommer and published by Springer. This book was released on 2008-01-29 with total page 477 pages. Available in PDF, EPUB and Kindle. Book excerpt: In 1986, B.K.P. Horn published a book entitled Robot Vision, which actually discussed a wider ?eld of subjects, basically addressing the ?eld of computer vision, but introducing “robot vision” as a technical term. Since then, the - teraction between computer vision and research on mobile systems (often called “robots”, e.g., in an industrial context, but also including vehicles, such as cars, wheelchairs, tower cranes, and so forth) established a diverse area of research, today known as robot vision. Robot vision (or, more general, robotics) is a fast-growing discipline, already taught as a dedicated teaching program at university level. The term “robot vision” addresses any autonomous behavior of a technical system supported by visual sensoric information. While robot vision focusses on the vision process, visual robotics is more directed toward control and automatization. In practice, however, both ?elds strongly interact. Robot Vision 2008 was the second international workshop, counting a 2001 workshop with identical name as the ?rst in this series. Both workshops were organized in close cooperation between researchers from New Zealand and Germany, and took place at The University of Auckland, New Zealand. Participants of the 2008 workshop came from Europe, USA, South America, the Middle East, the Far East, Australia, and of course from New Zealand.

Download or read book Mathematical Theory of Networks and Systems written by P.A. Fuhrmann and published by Springer. This book was released on 1984-03 with total page 938 pages. Available in PDF, EPUB and Kindle. Book excerpt: