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In this paper, we introduce a novel factor-graph based multi-sensor fusion algorithm that optimally estimates camera-odometer extrinsic calibration (6 DOF rigid body transformation between the two sensors) and localization aided by MEMS gyroscope measurements. In particular, we rigorously derive the camera-odometer calibration node and factors from the camera and odometer measurements. Moreover, due...
The teleoperation of space manipulator is an important part of the operation of the space manipulator. In this paper, the main working mode of the manned spacecraft manipulator used for on-orbit servicing is introduced, the data communication system for the on-orbit operation and teleoperation mode is designed. Based on CCSDS AOS, the space-ground communication protocol for teleoperation is designed,...
In digital image stabilization, the real camera motion usually illustrates different modes and properties, such as large moving trends, wandering patterns, diverse jitters and so on, which make the performance of motion filtering very difficult to be universally evaluated. This paper proposes a universal and objective evaluation method for motion filtering in time scale space. According to the wavelet...
This paper presents a new approach for human hair length detection. In contrast to others, the proposed method is able to segment hairs from different views of human heads even with low resolution. Faces are not necessary to be visible in the images, as no face detection is needed in our method. Firstly, it conducts background subtraction to detect foreground objects and then detects human heads with...
For ping-pong playing robots, observing a ball and predicting a ball's trajectory accurately in real-time is essential. However, most existing vision systems can only provide ball's position observation, and do not take into consideration the spin of the ball, which is very important in competitions. This paper proposes a way to observe and estimate ball's spin in real-time, and achieve an accurate...
Unmanned Aerial Vehicles (UAV) become widely used as they present many advantages for surveillance applications. However, most computer vision algorithms cannot be applied to the video sequences from UAV due to video shaking or blurredness. We propose a method to stabilize the image sequence from UAV cameras. This approach deals with three steps, a keypoint detection step, then a homography estimation...
This paper presents Nest, a novel system using wirelessly connected smartphones to localize remote targets based on sound and image inputs. The system has four major components: image-based localization, acoustics-based localization, wireless ad-hoc networking, and middle-ware services for time synchronization and secure communication. Single-image, two-image, and TDOA-acoustics based methods have...
Most methods for multiple camera tracking rely on accurate calibration to associate data from multiple cameras. However, it often is not easy to have an accurate calibration in some real applications due to practical reasons. The inaccurate calibration can lead to wrong data association of objects between cameras. In this paper, we propose a method to handle the data association of objects in multiple...
In this paper, we present a novel camera calibration method which requires only a few easy attainable lane markings in traffic scenes. All we need to know beforehand are a pair of parallel lane markings with known lane width and either the camera height or the length of a land marking parallel to the road. If the camera height is known a-prior, a set of camera parameters such as the focal length,...
This paper presents a novel automatic and dynamic camera calibration algorithm based on traffic visual surveillance. The algorithm can automatically calibrate the intrinsic and extrinsic parameters of camera, and offer enough guarantee to extract traffic real-time parameters. This paper firstly indicates the significance of applying automatic and dynamic calibration algorithm to intelligent transportation...
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