{"title":"Navigation of robotic platform with using inertial measurement unit and Direct Cosine Matrix","authors":"Beran Ladislav, Chmelar Pavel, Dobrovolny Martin","doi":"10.1109/ELMAR.2014.6923322","DOIUrl":"https://doi.org/10.1109/ELMAR.2014.6923322","url":null,"abstract":"Precise navigation of mobile robots in unknown areas is common problematic in many research. For the robot navigation in exterior is commonly used the Global Navigation Satellite System (GNSS). For better results in exteriors is also possible to use the Satellite Based Augmentation Systems (SBAS). In Europe is usually used the European Geostationary Navigation Overlay Service (EGNOS), in US Wide Area Augmentation System (WAAS). Unfortunately this precise type of navigation is not suitable for navigation inside buildings and industrial areas, mainly because the weak signal and low position accuracy. For these solutions is necessary to use an alternative systems - independent on satellite navigation. The project SGSFEI_2014002, supported by Internal Grant Agency of University of Pardubice, deals with the mobile robot navigation inside abandoned buildings, industrial constructions and space exploration. For independent calculation of acceleration vectors is necessary to implement Direct Cosine Matrix transformation (DCM) in navigation unit. This article present DCM transform theory and achieved results from performed experiment on measured and simulated data.","PeriodicalId":424325,"journal":{"name":"Proceedings ELMAR-2014","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134113869","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":"Robust feature matching for aerial visual odometry","authors":"Tarek Mouats, N. Aouf","doi":"10.1109/ELMAR.2014.6923324","DOIUrl":"https://doi.org/10.1109/ELMAR.2014.6923324","url":null,"abstract":"Interest points matching for aerial visual odometry using quadrotor MAV is tackled in this work. First, a set of sparse feature points are extracted using ORB detector. These are then grouped using Gradient Vector Flow (GVF) fields by finding points of high symmetry within the image. A robust matching strategy is introduced to improve the motion estimation. In order to validate ORB features matches, their grouping points are compared. Using the matched points, windowed bundle adjustment incorporating Gauss-Newton optimization is utilised for motion estimation. In order to deal with matching outliers, a Random sample consensus outlier rejection scheme is integrated. Lack of MAV stereo datasets in the literature motivated the generation of such vital data. Detailed results validating the proposed strategy are illustrated using these datasets. Also, a comparison with other approaches is also provided and shows the superiority of our approach.","PeriodicalId":424325,"journal":{"name":"Proceedings ELMAR-2014","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124637256","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":"Double cosecant squared antenna for a RFID system on railway","authors":"T. Zálabský, P. Bezousek, T. Shejbal","doi":"10.1109/ELMAR.2014.6923356","DOIUrl":"https://doi.org/10.1109/ELMAR.2014.6923356","url":null,"abstract":"The paper describes a structure and parameters of a double cosecant squared antenna for a RFID system monitoring passing trains. The antenna at the 2.45 GHz ISM band covers uniformly an oblong area along a railroad track. The specific antenna radiation pattern enables to effectively use the radiated power. The antenna designed in microstrip technology consists of two mirror-oriented parts of the same radiation patterns fed via a symmetrical power divider. Each part is composed of three dielectric layers. In the paper a comparison of the measured radiation characteristics with the required ones is also presented.","PeriodicalId":424325,"journal":{"name":"Proceedings ELMAR-2014","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122222959","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":"Image segmentation using active contour models and partial differential equations","authors":"Č. Livada, Hrvoje Leventić, I. Galić","doi":"10.1109/ELMAR.2014.6923348","DOIUrl":"https://doi.org/10.1109/ELMAR.2014.6923348","url":null,"abstract":"This article displays benefits of image segmentation for purpose of 3D reconstruction. Medical images and in this case CT slices are being reconstructed in 3D space for better medical investigation. It is relatively hard to use raw images for 3D reconstruction, so certain areas are being singled out using active contour models. Partial Differential Equations (PDEs), as non-linear diffusion, are used for image denoising because CT images have large gradiental areas that need to be evened out.","PeriodicalId":424325,"journal":{"name":"Proceedings ELMAR-2014","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127416499","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}
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