Real-time Automated Visual Inspection using Mobile Robots

Real-time Automated Visual Inspection using Mobile Robots

We present a framework to perform novelty detection using visual input in which a mobile robot first learns a model of normality in its operating environment and later uses this to highlight uncommon visual features that may appear. This ability is of great importance for both robotic exploration and inspection tasks, because it enables the robot to allocate computational and attentional resour...

Novelty-Based Visual Inspection Using Mobile Robots

In this paper we present a novelty detection mechanism in which a mobile robot learns a model for its environment through visual exploration. Once the learning process is finished, the robot can be used to inspect the environment and highlight stimuli that do not fit the acquired model of normality. Experimental results from a visual inspection task involving the detection of arbitrary objects ...

Fuzzy Motion Control for Wheeled Mobile Robots in Real-Time

Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...

Visual Novelty Detection for Mobile Inspection Robots

Visual Novelty Detection for Inspection Tasks using Mobile Robots

Novelty detection – the ability to differentiate between common sensory stimuli and perceptions never experienced before – is a very useful competence for a mobile robot operating in a dynamic environment. Using such an ability, the robot can select which aspects of the environment are unusual and therefore deserve the attention from either a human operator – for instance, in supervised inspect...