The article presents the application of a hyperspectral camera in mobile robot navigation. Hyperspectral cameras are imaging systems that can capture a wide range of electromagnetic spectra. This feature allows them to detect a broader range of colors and features than traditional cameras and to perceive the environment more accurately. Several surface types, such as mud, can be challenging to detect using an RGB camera. In our system, the hyperspectral camera is used for ground recognition (e.g., grass, bumpy road, asphalt). Traditional global path planning methods take the shortest path length as the optimization objective. We propose an improved A* algorithm to generate the collision-free path. Semantic information makes it possible to plan a feasible and safe path in a complex off-road environment, taking traveling time as the optimization objective. We presented the results of the experiments for data collected in a natural environment. An important novelty of this paper is using a modified nearest neighbor method for hyperspectral data analysis and then using the data for path planning tasks in the same work. Using the nearest neighbor method allows us to adjust the robotic system much faster than using neural networks. As our system is continuously evolving, we intend to examine the performance of the vehicle on various road surfaces, which is why we sought to create a classification system that does not require a prolonged learning process. In our paper, we aimed to demonstrate that the incorporation of a hyperspectral camera can not only enhance route planning but also aid in the determination of parameters such as speed and acceleration.

This paper presents a novel method for integration of industrially-oriented human-robot speech communication and vision-based object recognition. Such integration is necessary to provide context for task-oriented voice commands. Context-based speech communication is easier, the commands are shorter, hence their recognition rate is higher. In recent years, significant research was devoted to integration of speech and gesture recognition. However, little attention was paid to vision-based identification of objects in industrial environment (like workpieces or tools) represented by general terms used in voice commands. There are no reports on any methods facilitating the abovementioned integration. Image and speech recognition systems usually operate on different data structures, describing reality on different levels of abstraction, hence development of context-based voice control systems is a laborious and time-consuming task. The aim of our research was to solve this problem. The core of our method is extension of Voice Command Description (VCD) format describing syntax and semantics of task-oriented commands, as well as its integration with Flexible Editable Contour Templates (FECT) used for classification of contours derived from image recognition systems. To the best of our knowledge, it is the first solution that facilitates development of customized vision-based voice control applications for industrial robots.

Quality inspection in the pharmaceutical and food industry is crucial to ensure that products are safe for the customers. Among the properties that are controlled in the production process are chemical composition, the content of the active substances, and visual appearance. Although the latter may not influence the product’s properties, it lowers customers’ confidence in drugs or food and affects brand perception. The visual appearance of the consumer goods is typically inspected during the packaging process using machine vision quality inspection systems. In line with the current trends, the processing of the images is often supported with deep neural networks, which increases the accuracy of detection and classification of faults. Solutions based on AI are best suited to production lines with a limited number of formats or highly repeatable production. In the case where formats differ significantly from each other and are often being changed, a quality inspection system has to enable fast training. In this paper, we present a fast method for image anomaly detection that is used in high-speed production lines. The proposed method meets these requirements: It is easy and fast to train, even on devices with limited computing power. The inference time for each production sample is sufficient for real-time scenarios. Additionally, the ultra-lightweight algorithm can be easily adapted to different products and different market segments. In this work, we present the results of our algorithm on three different real production data gathered from food and pharmaceutical industries.

In the food industry, ensuring product quality is crucial due to potential hazards to consumers. Though metallic contaminants are easily detected, identifying non-metallic ones like wood, plastic, or glass remains challenging and poses health risks. X-ray-based quality control systems offer deeper product inspection than RGB cameras, making them suitable for detecting various contaminants. However, acquiring sufficient defective samples for classification is costly and time-consuming. To address this, we propose an anomaly detection system requiring only non-defective samples, automatically classifying anything not recognized as good as defective. Our system, employing active learning on X-ray images, efficiently detects defects like glass fragments in food products. By fine tuning a feature extractor and autoencoder based on non-defective samples, our method improves classification accuracy while minimizing the need for manual intervention over time. The system achieves a 97.4% detection rate for foreign glass bodies in glass jars, offering a fast and effective solution for real-time quality control on production lines.

The article presents a navigation system that utilizes a semantic map created on a hexagonal grid. The system plans the path by incorporating semantic and metric information while considering the vehicle’s dynamic constraints. The article concludes by discussing a low-level control algorithm used in the system. This solution’s advantages include using a semantic map on a hexagonal grid, which enables more efficient and accurate navigation. Creating a map of allowable speeds based on the semantic map provides an additional layer of information that can help optimize the vehicle’s trajectory. Incorporating both semantic and metric information in the path-planning process leads to a more precise and tailored navigation solution that accounts for the vehicle’s capabilities and the environment it is operating in. Finally, the low-level control algorithm ensures that the vehicle follows the planned trajectory while considering real-time sensor data and other factors affecting its movement. Through this article, we aim to provide insights into the cutting-edge advancements in path planning techniques and shed light on the potential of combining hexagonal grids, vehicle dynamics constraints, and semantic awareness. These innovations have the potential to revolutionize autonomous navigation systems, enabling vehicles to navigate complex environments with greater efficiency, safety, and adaptability.