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In this paper, we introduce CamSLAM, a simultaneous localization and mapping (SLAM) framework composed of a powerful visualinertial odometry backbone using an error-state Extended Kalman Filter (EKF) for sensor fusion, and a very efficient and lightweight parallel mapping engine utilizing keyframe based pose graph data structure and binary descriptors for feature matching and indexing. The framework...
Sorting technique is one of the most essential process to differentiate or uniquely identify the required object out of a bulk. It has brought revolutionary change in the automation and manufacturing industry and has further given new dimension to the industry. The project is proposed to sort the pencils on the basis of the color. A conveyor driven system has been used for this particular process...
This paper presents a vehicle navigation system that is capable of achieving sub-meter GPS-denied navigation accuracy in large-scale urban environments, using pre-mapped visual landmarks. Our navigation system tightly couples IMU data with local feature track measurements, and fuses each observation of a pre-mapped visual landmark as a single global measurement. This approach propagates precise 3D...
In this paper we present an augmented reality binocular system to allow long range high precision augmentation of live telescopic imagery with aerial and terrain based synthetic objects, vehicles, people and effects. The inserted objects must appear stable in the display and must not jitter and drift as the user pans around and examines the scene with the binoculars. The design of the system is based...
This paper proposes a novel vision-aided navigation approach that continuously estimates precise 3D absolute pose for aerial vehicles, using only inertial measurements and monocular camera observations. Our approach is able to provide accurate navigation solutions under long-term GPS outage, by tightly incorporating absolute geo-registered information into two kinds of visual measurements: 2D–3D tie-points,...
Camera tracking system for augmented reality applications that can operate both indoors and outdoors is described. The system uses a monocular camera, a MEMS-type inertial measurement unit (IMU) with 3-axis gyroscopes and accelerometers, and GPS unit to accurately and robustly track the camera motion in 6 degrees of freedom (with correct scale) in arbitrary indoor or outdoor scenes. IMU and camera...
Stereo Vision processing is a critical component of Augmented Reality systems that rely on the precise depth map of a scene to properly place computer generated objects with real life video. Important aspects of the stereo processing are the creation of a dense depth map, high boundary precision, low latency and low power. We present an embedded system for Stereo Vision Processing based on a custom...
Odometry component of a camera tracking system for augmented reality applications is described. The system uses a MEMS-type inertial measurement unit (IMU) with 3-axis gyroscopes and accelerometers and a monocular camera to accurately and robustly track the camera motion in 6 degrees of freedom (with correct scale) in arbitrary indoor or outdoor scenes. Tight coupling of IMU and camera is achieved...
Odometry component of a camera tracking system for augmented reality applications is described. The system uses a MEMS-type inertial measurement unit (IMU) with 3-axis gyroscopes and accelerometers and a monocular camera to accurately and robustly track the camera motion in 6 degrees of freedom (with correct scale) in arbitrary indoor or outdoor scenes. Tight coupling of IMU and camera is achieved...
We present a method to individually position single QDs with nanometer precision by electroosmotic flow control (EOFC). Using EOFC, we demonstrate the ability to individually select a QD from anywhere within a 100 μm control area inside a microfluidic chamber and place it at a desired position to with a 52 nm precision. The single photon emission of EOFC manipulated QDs is verified by photon anti-bunching...
We present an innovative path following system based upon multi-camera visual odometry and visual landmark matching. This technology enables reliable mobile robot navigation in real world scenarios including GPS-denied environments both indoors and outdoors. We recover paths in full 3D, making it applicable to both on and off-road ground vehicles. Our controller relies on pose updates from visual...
This paper describes a sensing system for estimating range and detecting the shape of objects from a few meters to a few kilometers away. Such distances are too large for current active methods (e.g. LADAR) or fixed baseline stereo. A sensing system consisting of a single camera mounted on a ground vehicle equipped with a precision inertial navigation system (INS) is used. The vehicle travel is used...
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