This paper describes the implementation of behaviour for real-time visual servoing on a mobile robot. The behaviour is a component of a multi-robot cleaning system developed in the context of our investigation into architectures for cooperative systems. An important feature for support of cooperation is the awareness of one robot by another, which this behaviour realises. Robust feature trackin...

The visual estimation of the rank of a matrix has eluded researchers across a myriad of disciplines many years. In this paper, we demonstrate the successful visual estimation of a matrix’s rank by treating it as a classification problem. When tested on a dataset of tens-of-thousands of colormapped matrices of varying ranks, we not only achieve state-of-the-art performance, but also distressingl...

Structure-From-Motion (SFM) methods, using stereo data, are among the best performing algorithms for motion estimation from video imagery, or visual odometry. Critical to the success of SFM methods is the quality of the initial pose estimation algorithm from feature correspondences. In this work, we evaluate the performance of pose estimation algorithms commonly used in SFM visual odometry. We ...

The estimation of metallurgical parameters of flotation process from froth visual features is the ultimate goal of a machine vision based control system. In this study, a batch flotation system was operated under different process conditions and metallurgical parameters and froth image data were determined simultaneously. Algorithms have been developed for measuring textural and physical froth ...

In this paper we address the problem of automatic arrangement of cameras in a 3D system to enhance the performance of depth acquisition procedure. Lacking ground truth or a priori information, a measure of uncertainty is required to assess the quality of reconstruction. The mathematical model of iso-disparity surfaces provides an efficient way to estimate the depth estimation uncertainty which ...

We conducted eight experiments to examine how manipulating perception vs. action during walking affects perception-action recalibration in real and imagined blindfolded walking tasks. Participants first performed a distance estimation task (pretest), and then walked through an immersive virtual environment on a treadmill for 10 minutes. Participants then repeated the distance estimation task (p...

In this paper we review different meanings of the word intrinsic in statistical estimation, focusing our attention on the use of this word in the analysis of the properties of an estimator. We review the intrinsic versions of the bias and the mean square error and results analogous to the Cramér-Rao inequality and Rao-Blackwell theorem. Different results related to the Bernoulli and normal dist...