Single-Camera Computer Vision Algorithm for Robot Shortest Path Estimator using morphological structuring  element with variable sizes

Hasan, Sami; Akhtar, Naeem; Jumaa, Shereen S.

doi:10.14419/ijet.v7i2.28.12937

“…In [25] the centroid of the robot is found by background subtraction. In [26] the robot outline is found by morphologically-filtering. In [27] a colorcoded tag is detected on the robot body.…”

Section: Introductionmentioning

confidence: 99%

Activity Analytics from Fixed Cameras for Robot Path Planning

O’Gorman¹

2022

Preprint

0

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<p> Abstract— Although mobile robots have on-board sensors to perform navigation, path planning can benefit from fixed, or infrastructure, cameras that capture activity analytics continuously and from non-robot perspectives. We describe an approach that collects statistics of motion that repeat at some period (usually a day) and perform path planning to avoid expected activity in time and space The same statistics are used to learn preferred human paths and plan robot paths on these at times of low human activity. Temporal filtering is performed in cascade to efficiently extract long- and short-term activity in two time dimensions (isochronal and chronological) for use in global and local path planning. We compare our lightweight activity detection approach to neural network object detection methods and propose an activity-gated approach that combines activity and object detection efficiently. We deployed our approach in the ROS robot software development framework by augmenting the cost map of static objects with dynamic regions determined from activity. We describe benefits and constraints of this combination. </p>

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“…In [25] the centroid of the robot is found by background subtraction. In [26] the robot outline is found by morphologically-filtering. In [27] a colorcoded tag is detected on the robot body.…”

Section: Introductionmentioning

confidence: 99%

Activity Analytics from Fixed Cameras for Robot Path Planning

O’Gorman¹

2022

Preprint

0

View full text Add to dashboard Cite

<p> Abstract— Although mobile robots have on-board sensors to perform navigation, path planning can benefit from fixed, or infrastructure, cameras that capture activity analytics continuously and from non-robot perspectives. We describe an approach that collects statistics of motion that repeat at some period (usually a day) and perform path planning to avoid expected activity in time and space The same statistics are used to learn preferred human paths and plan robot paths on these at times of low human activity. Temporal filtering is performed in cascade to efficiently extract long- and short-term activity in two time dimensions (isochronal and chronological) for use in global and local path planning. We compare our lightweight activity detection approach to neural network object detection methods and propose an activity-gated approach that combines activity and object detection efficiently. We deployed our approach in the ROS robot software development framework by augmenting the cost map of static objects with dynamic regions determined from activity. We describe benefits and constraints of this combination. </p>

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Analysis and Design Capacitive Power Transfer (CPT) System for Low Application Using Class-E LCCL Inverter by Investigate Distance between Plates Capacitive.

Hasan

¹

,

Saat

²

,

Yusop

³

et al. 2020

J. Phys.: Conf. Ser.

3

0

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This study presents the analysis and design of a Capacitive Power Transfer (CPT) system for low power application using a Class-E LCCL inverter based on varying the distance between capacitance plates. The Class-E LCCL inverter can produce a high-frequency alternate current and reduce the size of the capacitance plate to minimise power losses during energy transfer besides yielding low switching losses. In specific, the performance of the LCCL CPT system at 1 MHz operating frequency and 24 V DC supply voltage was analysed via simulation and experimental works. Finally, a prototype of the CPT system was successfully designed, producing 10 W output power through a capacitive plate size of 0.0327 m2 and a 0.1 cm air gap at 96.68% efficiency. Based on the performance of the LCCL CPT System design, an efficiency analysis of the LCCL CPT System was performed; the capacitance plate distance was varied from 1 cm to 20 cm and produced a change in total impedance calculation from 57.69+j198.42 Ohm to −2.05j Ohm. Meanwhile, efficiency decreased from 96.68% to 1.25% but power was still transmitted in that range. These findings could be beneficial for hazardous electrical environments, portable applications, consumer electronics, and medical implants.

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Single-Camera Computer Vision Algorithm for Robot Shortest Path Estimator using morphological structuring element with variable sizes

Cited by 3 publications

References 13 publications

Activity Analytics from Fixed Cameras for Robot Path Planning

Activity Analytics from Fixed Cameras for Robot Path Planning

Activity Analytics from Fixed Cameras for Robot Path Planning

Analysis and Design Capacitive Power Transfer (CPT) System for Low Application Using Class-E LCCL Inverter by Investigate Distance between Plates Capacitive.

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