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Power line inspection is an essential but costly task while automated UAV (unmanned aerial vehicle) inspection can greatly reduce such costs. However, navigating along power lines is a challenging task due to the narrow width and limited features of power lines. Existing power line tracking methods have threshold selection problems and cannot work well for complex and changing backgrounds. We make...
Graph-Based Representation (GBR) has recently been proposed for rectified multiview dataset. The core idea of GBR is to use graphs for describing the color and geometry information of a multiview dataset. The color information is represented by the vertices of the graph while the scene geometry is represented by the edges of the graph. In this paper, we generalize the GBR to multi-view images with...
Planetary rovers navigate in extreme environments for which a Global Positioning System (GPS) is unavailable, maps are restricted to relatively low resolution provided by orbital imagery, and compass information is often lacking due to weak or not existent magnetic fields. However, an accurate rover localization is particularly important to achieve the mission success by reaching the science targets,...
Taking good photos in low-light conditions using a smart-phone camera is quite challenging. In this paper, we propose a method to produce a sharp well-exposed image under dim light scenarios using exposure bracketing. These images captured from a hand-held camera can be viewed as a set of blurred (high exposure) and noisy images (low exposure). We first describe an algorithm for estimating the sharp...
We extract 3D curb from video sequence, using a single camera equipped with fish-eye lens and located at the front/rear of the vehicle. The challenge in extracting curbs from images lies in their small size and their lack of texture. We show that by appropriately exploiting appearance features, 3D geometry, and temporal information, one can reliably detect and localize the curbs in the 3D scene. The...
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