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Browsing by Author "Withey, Daniel J"

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CHAMP: A bespoke integrated system for mobile manipulation

Author: Van Eden, Beatrice ; Rosman, Benjamin S ; Withey, Daniel J ; Ratshidaho, T ; Keaikitse, M ; Masha, D ; Kleinhans, A ; Shaik, A Date: Nov 2014 Mobile manipulation is a robotics paradigm with the potential to make major contributions to a number of important domain areas. Although some mobile manipulators are commercially available, bespoke systems can be assembled from existing and ... Read more
Comparison of clustering methods for tracking features in RGB-D images

Author: Pancham, Ardhisha ; Withey, Daniel J ; Bright, G Date: Oct 2016 The use of low-cost, camera sensors for Simultaneous Localization And Mapping and Moving Object Tracking (SLAMMOT) is a developing research area. Image features can be static or dynamic, sparse or dense, and can appear or disappear, making ... Read more
Comparison of two detection algorithms for spot tracking in fluorescence microscopy images

Author: Mabaso, M ; Withey, Daniel J ; Twala, B Date: Nov 2014 Research in biological image analysis plays an important role in understanding the underlying mechanisms of cellular processes, which may lead to better knowledge of certain aspects of the cell function. The primary analysis of biological ... Read more
Computer vision for an autonomous mobile robot

Author: Withey, Daniel J Date: Oct 2015 Computer vision systems are essential for practical, autonomous, mobile robots – machines that employ artificial intelligence and control their own motion within an environment. As with biological systems, computer vision systems include the ... Read more
A convolutional neural network for spot detection in microscopy images

Author: Mabaso, Matsilele A ; Withey, Daniel J ; Twala, B Date: Aug 2019 This paper developed and evaluated a method for the detection of spots in microscopy images. Spots are subcellular particles formed as a result of biomarkers tagged to biomolecules in a specimen and observed via fluorescence microscopy as ... Read more
Evaluation of a simultaneous localization and mapping algorithm in a dynamic environment using a red green blue - depth camera

Author: Pancham, Ardhisha ; Withey, Daniel J ; Bright, G Date: Mar 2018 Simultaneous Localization And Mapping (SLAM) assumes a static environment. In a dynamic environment, the localization accuracy and map quality of SLAM may be degraded by moving objects. By removing these moving objects SLAM performance may ... Read more
A framework for creating realistic synthetic fluorescence microscopy image sequences

Author: Mabaso, M ; Withey, Daniel J ; Twala, B Date: Feb 2016 Fluorescence microscopy imaging is an important tool in modern biological research, allowing insights into the processes of biological systems. Automated image analysis algorithms help in extracting information from these images. Validation ... Read more
Leapfrog and optimal kinodynamic motion planning

Author: Matebese, Belinda T ; Withey, Daniel J ; Banda, MK Date: Sep 2020 The motion planning for a mobile, autonomous system is solved using the Leapfrog algorithm from optimal control. Numerical optimal control has some advantages for motion planning. Differential constraints can be included in the problem ... Read more
LiDAR-based 3D mapping and localisation system for Ground Penetrating Radar

Author: Ogunniyi, Samuel O ; Withey, Daniel J ; Marais, Stephen T ; Crafford, Gerhardus J Date: Jan 2020 As mining activities expand into deeper mines in South Africa's geology there are increasing safety concerns for personnel working within these mines. Ground Penetrating Radar can be used to find faults in the rock face; however, current GPR ... Read more
Performance evaluation of spot detection algorithms in fluorescence microscopy images

Author: Mabaso, M ; Twala, B ; Withey, Daniel J ; Utete, S Date: Oct 2012 Detection of messenger Ribonucleic Acid (mRNA) spots in fluorescence microscopy images is of great importance for biologists seeking better understanding of cell functionality. Fluorescence microscopy and specific staining methods make ... Read more
Quantitative comparison of two particle tracking methods in fluorescence microscopy images

Author: Mabaso, M ; Twala, B ; Withey, Daniel J Date: Sep 2013 Tracking of multiple bright particles (spots) in fluorescence microscopy image sequences is seen as a crucial step in understanding complex information in the cell. However, fluorescence microscopy generates high a volume of noisy image data ... Read more
Spot detection in microscopy images using Convolutional Neural Network with sliding-window approach

Author: Mabaso, Matsilele A ; Withey, Daniel J ; Twala, B Date: Jan 2018 Robust spot detection in microscopy image analysis serves as a critical prerequisite in many biomedical applications. Various approaches that automatically detect spots have been proposed to improve the analysis of biological images. In this ... Read more
Spot detection methods in fluorescence microscopy imaging: A review

Author: Mabaso, Matsilele A ; Withey, Daniel J ; Twala, B Date: 2018 Fluorescence microscopy imaging has become one of the essential tools used by biologists to visualize and study intracellular particles within a cell. Studying these particles is a long-term research effort in the field of microscopy image ... Read more
State estimation for a hexapod robot

Author: Lubbe, Estelle ; Withey, Daniel J ; Uren, KR Date: Sep 2015 This paper introduces a state estimation methodology for a hexapod robot that makes use of proprioceptive sensors and a kinematic model of the robot. The methodology focuses on providing reliable full pose state estimation for a commerciall ... Read more
Tracking image features with PCA-SURF descriptors

Author: Pancham, A ; Withey, Daniel J ; Bright, G Date: May 2015 The tracking of moving points in image sequences requires unique features that can be easily distinguished. However, traditional feature descriptors are of high dimension, leading to larger storage requirement and slower computation. In this ... Read more

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