Nikolaos Kyriakoulis

Learn More
A novel digital image stabilization technique is proposed in this paper. It is based on a fuzzy Kalman compensation of the global motion vector (GMV), which is estimated in the log-polar plane. The GMV is extracted using four local motion vectors (LMVs) computed on respective subimages in the logpolar plane. The fuzzy Kalman system consists of a fuzzy(More)
Vergence control in binocular vision systems involves the adjustment of the angle between the two cameras' axes so that they are both fixated at the same point of interest. Vergence enables stereo vision systems to perceive depth and to acquire obstacle maps. Vergence movement is directly related to the binocular fusion. Additionally, the decision for(More)
The pose estimation from visual sensors is widely practiced nowadays. The pose vector is estimated by means of homographies and projection geometry. The integration of visual and inertial measurements is getting more attractive due to its robustness and flexibility. The cooperation of visual with inertial sensors for finding a robot’s pose bears many(More)
An important issue in realizing robots with stereo vision is the efficient control of the vergence angle. In an active robotic vision system the vergence angle along with the pan and tilt ones determines uniquely the fixation point in the 3D space. The vergence control involves the adjustment of the angle between the two cameras’ axes towards the fixation(More)
One of the serious problems in robotics applications is the estimation of the robot’s pose. A lot of research effort has been put on finding the pose via inertial and proximity sensors. However, the last decades many systems adopt vision to estimate the pose, by using homographies and projection geometry. In this paper the pose estimation is achieved by the(More)
This paper proposes and compares several data fusion techniques for robot navigation. The fusion techniques investigated here are several topologies of the Kalman filter. The problem that had been simulated is the navigation of a robot carrying two sensors, one Global Positioning System (GPS) and one Inertial Navigation System (INS). For each of the above(More)
Digital image stabilization (DIS) is the process that compensates the undesired fluctuations of a frame’s position in an image sequence by means of digital image processing techniques. DIS techniques usually comprise two successive units. The first one estimates the motion and the successive one compensates it. In this paper, a novel digital image(More)
The ACROBOTER project aims to develop a radically new locomotion technology that can effectively be used in a home and/or in a workplace environment for manipulating small objects autonomously. It extends the workspace of existing indoor service robots in the vertical direction, whilst its novel structure allows covering the whole volume of a room. For the(More)
  • 1