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In this paper, two visual cues are proposed, to be exploited for the navigation of active endoscopic capsules within the gastrointestinal (GI) tract. These cues consist of the detection and tracking of the lumen and of an illumination highlight in capsule endoscopy (CE) images. The proposed approach aims at developing vision algorithms which are robust with respect to the challenging imaging conditions...
This paper proposes a feature-based method for recovering the relative positions of the viewpoints of a set of panoramic images for which no a priori order information is available, along with certain structure information regarding the imaged environment. The proposed approach operates incrementally, employing the Levenshtein distance to deduce the spatial proximity of image viewpoints and thus determine...
This paper addresses the problem of tracking a 3D plane over a sequence of images acquired by a free moving camera, a task that is of central importance to a wide variety of vision tasks. A feature-based method is proposed which given a triplet of consecutive images and a plane homography between the first two of them, estimates the homography induced by the same plane between the second and third...
This paper presents a method for real-time 3D hand tracking in images acquired by a calibrated, possibly moving stereoscopic rig. The proposed method consists of a collection of techniques that enable the modeling and detection of hands, their temporal association in image sequences, the establishment of hand correspondences between stereo images and the 3D reconstruction of their contours. Building...
In order to obtain optimal 3D structure and viewing parameter estimates, bundle adjustment is often used as the last step of feature-based structure and motion estimation algorithms. Bundle adjustment involves the formulation of a large scale, yet sparse minimization problem, which is traditionally solved using a sparse variant of the Levenberg-Marquardt optimization algorithm that avoids storing...
We address the problem of tracking the 3D position and orientation of a camera, using the images it acquires while moving freely in unmodeled, arbitrary environments. This task has a broad spectrum of useful applications in domains such as augmented reality and video post production. Most of the existing methods for vision-based camera tracking are designed to operate in a batch, off-line mode, assuming...
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