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A 3D motion detection method based on RGB-D data and scene flow clustering is proposed in this paper. The 3D extension of the optical flow called scene flow which describes the 3D motion of every point in a scene between two consecutive frames. Firstly, we estimate the scene flow using color maps and the aligned depth maps in two consecutive frames, then extract the feature vector of each point from...
Real-time, robust and precise estimation of a robot's ego-motion is a crucial requirement for higher level tasks like autonomous navigation. In this paper, a real-time and robust odometry estimation system for indoor micro aerial vehicle (MAV) is developed by only using the point cloud generated from the depth camera. First, local surface normal features are used to select points with most constraints...
Micro-quadrotor usually equips with lightweight sensors due to its limited payload. In this paper, an odometry estimation method based on 2D laser scanner and monocular vision is proposed to solve the pose estimation problem of micro-quadrotor flying robot in indoor environments. This method firstly detects and matches image features of current and previous frames to get all feature correspondences...
The concept of active tracking is presented to simulate the characteristics of human vision in intelligent visual surveillance. The Pan/Tilt/Zoom (PTZ) camera is generally used for active tracking. In this paper, we present a novel and effective approach for active object tracking with a PTZ camera, and construct a near real-time system for indoor and outdoor scenes. The tracking algorithm of our...
Various features may be used for tracking with a mobile camera, such as color, edge, contour, texture, locomotion, key point and so on. It has been proved that combination of multiple features can increase the robustness of a tracking system. By considering the characteristics of these features, we propose the approach of employing the color and topological properties of the target in tracking. First,...
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