{"title":"Strategies for 3D data acquisition and mapping in large-scale modern warehouses","authors":"P. Beinschob, C. Reinke","doi":"10.1109/ICCP.2013.6646113","DOIUrl":"https://doi.org/10.1109/ICCP.2013.6646113","url":null,"abstract":"Today modern manufacturing and logistic processes rely in most instances on manual forklifts. Being known for low efficiency, high energy consumption and listed among the most frequent causes of severe accidents in factories, the SICK AG coordinated EU funded research project PAN Robots aims to replace them in large scale with Automated Guided Vehicles (AGV). Major obstacles for operators with current AGVs are high initial costs, e.g. registration of all pallet positions and reflectors which needs to be performed by highly trained professionals in order to create an accurate navigation map for the AGVs. Simultaneous Localization And Mapping (SLAM) is the scientific approach to initial mapping. In this paper, we present 3D mapping strategies dedicated for the warehouse environment with multiple Laserscanners. Preliminary results are shown based on measurement data captured at the site of our project partner Casbega, Madrid, Spain.","PeriodicalId":380109,"journal":{"name":"2013 IEEE 9th International Conference on Intelligent Computer Communication and Processing (ICCP)","volume":"48 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120942344","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Fleet management and driver supervision using GPS and inertial measurements over GPRS networks","authors":"Cristian-Paul Bara, I. Cretu, I. Rosu","doi":"10.1109/ICCP.2013.6646106","DOIUrl":"https://doi.org/10.1109/ICCP.2013.6646106","url":null,"abstract":"The paper proposes a hardware solution to be equipped on automobiles for the purpose of fleet management and driver supervision. A very useful add on to vehicles. For fleets meant for very high reliability logistics, Just In Time or Sequence strategies. Tracking for insurance reasons to prevent fraud on both parts. The system uses GPS data and inertial measurements to track vehicle movement and driver discipline and sends data over a GPRS network to be logged. The software developed for this system communicates with the GPS transceiver and GPRS modem asynchronously. Application system management implemented using a call-callback method. The system is capable of Firmware Over The Air (FOTA).","PeriodicalId":380109,"journal":{"name":"2013 IEEE 9th International Conference on Intelligent Computer Communication and Processing (ICCP)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125765161","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Target tracking by multiple cues based on genetic particle filter","authors":"Wei Li, Hui Li","doi":"10.1109/ICCP.2013.6646099","DOIUrl":"https://doi.org/10.1109/ICCP.2013.6646099","url":null,"abstract":"This paper represents a mutate resample method to modify the particle impoverishment problem, which increase the diversity of particles to ensure a better estimate of posterior density. A precise observation model is necessary to track target robustly and accurately, which integrate the intensity and gradient cue base on the characteristics of the target image sequence. An adaptive fusion method is proposed that a log likelihood ratio of sample densities from target and background is computed. Finally, we use a model updating strategy to change observation template appropriately. Experiments show that the modified algorithm has a better tracking performance, which can deal with the occlusion and severe background interference in the tracking process.","PeriodicalId":380109,"journal":{"name":"2013 IEEE 9th International Conference on Intelligent Computer Communication and Processing (ICCP)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121906018","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Pedestrian detection from traffic scenes based on probabilistic models of the contour fragments","authors":"Florin Florian, Ion Giosan, S. Nedevschi","doi":"10.1109/ICCP.2013.6646089","DOIUrl":"https://doi.org/10.1109/ICCP.2013.6646089","url":null,"abstract":"Driving assistance systems usually have a pedestrian detection module for alerting the driver in case of a dangerous situation. In this paper we describe such a module that is used for obstacles classification in pedestrians and non-pedestrians. The obstacles are defined by their region of interest (ROI) in the grayscale scene image. Random size and location of pedestrians' contour-edge fragments are extracted and filtered. They are used for building a very large codebook of pedestrians' contour fragments. A novel multi-level clustering is introduced in order to sequentially group these fragments first on location, then on size and finally on the content. A new method is proposed for computing a set of probabilistic contour fragments models inside each individual cluster. It is used for characterizing the entire codebook in just few models, one for each cluster. These models are used in a fast matching process against the obstacles ROIs that should be classified. A SVM classifier is trained on the matching scores vector and applied for detecting the pedestrians.","PeriodicalId":380109,"journal":{"name":"2013 IEEE 9th International Conference on Intelligent Computer Communication and Processing (ICCP)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132646750","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Alíz Nagy, Istvan Szakats, T. Mariţa, S. Nedevschi
{"title":"Development of an omnidirectional stereo vision system","authors":"Alíz Nagy, Istvan Szakats, T. Mariţa, S. Nedevschi","doi":"10.1109/ICCP.2013.6646114","DOIUrl":"https://doi.org/10.1109/ICCP.2013.6646114","url":null,"abstract":"Although stereo systems built up of omnidirectional cameras offer the possibility of providing information for a 360 grade field of view, the research in the field is still in an early stage compared to perspective systems. We provide in this study an extensive overview on existing techniques for camera calibration, stereo rectification, stereo matching methods and 3D depth reconstruction on omnidirectional images. A comparison of methods, together with a few ideas of improvement is presented, establishing an equivalency, and transformation between an omnidirectional and a perspective vision system.","PeriodicalId":380109,"journal":{"name":"2013 IEEE 9th International Conference on Intelligent Computer Communication and Processing (ICCP)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125127597","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Hardware implementation on FPGA of two modulation techniques for three phase inverters","authors":"B. Alecsa, A. Onea","doi":"10.1109/ICCP.2013.6646123","DOIUrl":"https://doi.org/10.1109/ICCP.2013.6646123","url":null,"abstract":"This paper presents two modern modulation techniques applied to three phase inverters from a hardware implementation point of view. The considered techniques are the sinusoidal pulse width modulation with zero sequence injection and the space vector modulation. Both these techniques conduct to the same result regarding supply voltage usage efficiency and harmonic content of the resulted signals. The implementation was developed in Matlab-Simulink using the System Generator software, and validated through simulation. Both the modulation algorithms were implemented in hardware on a low cost FPGA, and the resulted designs are compared for resource usage efficiency, obtained speed and easiness of integration within a complex AC drive control system.","PeriodicalId":380109,"journal":{"name":"2013 IEEE 9th International Conference on Intelligent Computer Communication and Processing (ICCP)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114737070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}