The preparation of steam-cooked potatoes in large-scale food service systems is challenging since it requires high flexibility and handling large volumes. To increase efficiency, potato tubers are industrially pre-treated, which includes peeling and chemical pre-treatments to avoid enzymatic browning. In large-scale food service systems, potatoes are often warm-held before serving. Industrial pre-

Camera motion estimation, such as relative pose estimation and absolute pose estimation, are fundamental problems in computer vision and robotics. To obtain the motion parameters, classical methods rely on studying the properties of the geometric matrices, e.g., rotation matrix, essential matrix, homography matrix. The well known five-point algorithm was successfully derived using the singular con

Autonomous vehicles and robots are typically equipped with Lidar and camera. Hence, calibrating the Lidar-camera system is of extreme importance for ego-motion estimation and scene understanding. In this paper, we propose a two-step approach (coarse + fine) for the external calibration between a camera and a multiple-line Lidar. First, a new closed-form solution is proposed to obtain the initial c

Camera systems used, e.g., in cars, UAVs, smartphones, and tablets, are typically equipped with IMUs (inertial measurement units) that can measure the gravity vector. Using the information from an IMU, the y-axes of cameras can be aligned with the gravity, reducing their relative orientation to a single DOF (degree of freedom). In this paper, we use the gravity information to derive extremely effi

In this paper, we propose a novel 3-DOF visual odometry method to estimate the location and pose (yaw) of a mobile robot when the robot is navigating indoors. Particularly, we mainly aim at dealing with the corridor-like scenarios where the RGB-D camera mounted on the robot can capture apparent planar structures such as floor or walls. The novelties of our method lie in two-folds. First, to fully

Kollektivtrafikplanering är en balansakt. Å ena sidan är det viktigt att satsa där det finns potential för många resor. Då krävs en koncentration av resurserna till stråk och noder med stort befolkningsunderlag. Å andra sidan är det också angeläget att skapa en rättvis fördelning av den offentliga service som utgörs av kollektivtrafiksystemet, så att även människor i mer glesbefolkade områden ges This thesis addresses the demand for more knowledge regarding regional public transport (between urban areas or to and from rural areas). More specifically, the aim is to develop a better understanding of the effects of different service planning decisions in terms of different trade-offs and their impacts on the overarching objectives of public transport provision. The studied trade-offs concern,