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Stereo-vision plays an important part in planetary exploration. A high-precision calibration method is introduced for such system, which uses wide-angle lens. It makes use of planar homography constraint to estimate intrinsic and extrinsic parameters. On the basis of this initial guess, an optimization scheme is used to minimize a new cost function, 3D reprojection error sum. All calibration parameters...
This paper presents a novel approach for tracking a moving target of interest across a large-scale distributed camera system where some of the cameras are mobile. The growing trend of fitting public transport vehicles like buses, trains and taxis with some form of surveillance system, mainly to counter vandalism has created the opportunity for these systems to be integrated to a larger network-based...
Effective self-organization schemes lead to the creation of autonomous and reliable robot teams that can outperform a single, sophisticated robot on several tasks. We present here a novel, vision-based microscopic framework for active and distributed object-recognition and pose-estimation using a team of robots of simple construction. The team performs the task of locating a given object(s) in an...
In this paper, an obstacle avoidance method is described for a quadruped walking robot by using camera image and ultrasonic sensors. A single camera is used to acquire the rough information of three-dimensional obstacle, while some ultrasonic sensors are used to obtain the accurate information of the obstacle. Thus, the obstacle is efficiently measured by combining these sensors properly. The effectiveness...
This paper proposes a method for real-time face detection and identification using two cooperative pan-tilt-zoom (PTZ) cameras. For each camera, the human face is detected and segmented using motion and skin color cues. The face segment is then analyzed by considering the relative position of the facial color blob to determine the pose. After facial pose is estimated, the identification is performed...
Many problems in computer vision such as pose recovery and structure estimation are formulated as a minimization process. These problems vary in the use of image measurements directly or using them to extract 3D cues in the minimization process. Hybrid methods have the advantage of combining the 2D and 3D visual information to improve the performance over the above two methods. In this paper, we present...
This paper proposes a method to localize a 3D object in cluttered environment. Model of the object is represented by local shape features, computed from some reference images. Localization is performed by stereo images captured simultaneously by a pair of calibrated cameras. First the object is recognized in both images, using the local shape features. Then common features are used for reconstruction...
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