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In this paper, an intelligent control scheme based on remote gaze tracking is proposed. First, the eye-moving video of the user is captured by ordinary resolution camera under the illumination of near infrared light sources, then the images of the eye region and the pupil region are extracted by processing the video in real time. We process the image of the pupil region, and get the coordinates of...
In this paper, we present a systematic design and implementation of a robust real-time embedded vision system for an unmanned helicopter for ground target seeking and following. The on-board software system is developed based on a multithread technology capable of coordinating multiple tasks. To realize the autonomously ground target seeking and following, a sophisticated vision algorithm is proposed...
In the event of an emergency, due to a fire or other crisis, a necessary but time consuming pre-requisite, that could delay the real rescue operation, is to establish whether the ground can be entered safely by human emergency workers. The objective of the VIEW-FINDER project is to develop robots which have the primary task of gathering data. The robots are equipped with sensors that detect the presence...
Vision based vehicle detection attracts much attention in low-altitude platform for urban traffic surveillance which has great potential practical value. The major difficulties of moving vehicle detection are two-fold: 1) the unconstrained motion of the camera platform; 2) crowded vehicles are connected and hard to be segmented. To address these problems, we proposed an improved registration method...
The research presented in this paper focuses on high performance visual servoing for controlled positioning on micrometer scale. Visual servoing means that the positioning of a x-y table is performed with a camera instead of encoders and one camera image and image processing should determine the position in the next iteration. With a frame rate of 1000 [fps], a maximum processing time of 1 millisecond...
This paper presents a new method applied to helicopter blades pyramid angle measurement system based on CMOS technology, the overall design scheme of the system is offered and the imaging error is analyzed. Based on similarity criterion, the calculation methods on some critical components parameters of the helicopter dynamic balance test platform model are introduced. Provides a concise and rapid...
Least Squares Support Vector Machines could satisfactorily describes the non-linear relationships between the image information and the 3D information. It doesn't need to confirm internal and external parameters of the camera. The kernel function parameter and penalty parameter is a pivotal factor which decides performance of LS-SVM. Most users select parameters for an LS-SVM by rule of thumb, which...
This paper provide a method for reconstruction of non-structured 3D scene both indoor and outdoor. Based on the fusion of panoramic laser and monocular vision, we use Levenberg-Marquardt method to carry out the intrinsic calibration of a camera and the extrinsic calibration between a camera and a 3D laser range finder. We use the calibration result to color the laser data, and then expand to the whole...
This paper presents a new adaptive controller for visual servoing of robot manipulators based on the concept of depth-independent interaction matrix. By mapping the image error onto the joint space using the depth-independent interaction matrix, it is possible to make the unknown 3-D coordinates of the feature points linearly appear in the closed-loop dynamics of the system, so the unknown coordinates...
With two auxiliary lines drawn on the racket pad, the intersections of the auxiliary lines and the pad edge are selected as feature points. A simple pose measurement method is designed based on the feature points. A high efficient image-processing algorithm and a feature points extracting method are proposed according to the characteristics of the pad and the auxiliary lines. The racket pose in the...
A method to compute the lean stance of the camera is proposed, which is based on the parallel perspective mapping model of the camera. This method improved the common monocular vision-based localization method and can be used in the operating system of unmanned underground mining vehicle to detect the travelling status of vehicle in real-time, fit the bad underground road condition, and reduce the...
For the visual servo system, especially with the low-cost camera, there are problems on time delay which is caused by the difference between image processing period and robot control period. In this paper, the time delay in image processing is mainly discussed as the sampling period of the image processing is much longer than that of robot control. A scheme by the robot's pose and estimated image...
A lens-array-based integral imaging camera is studied in this work, which consists of a lens array, a main lens and a CCD camera. The lens array is placed on the object side of the main lens, thus can provide wider stereo baseline than other lens-array-based integral imaging cameras where the lens array is usually placed on the sensor side. However, the image captured by this system presents severe...
This paper presents a real-time and automatic video tracking system with a single pan-tilt-zoom (PTZ) camera. Compared with fixed camera, it can enlarge the surveillance area. By using three-dimensional background-weighted histogram in HSV color space, an improved mean-shift algorithm is proposed, and the algorithm can track target with multiple colors in real time. To keep the target in the center...
It is an innovation that we use digital close-range photogrammetry method to monitor the deformation of the steel goods shelf instead of traditional method. Digital camera is not for professional measurement, and it has no fiducially mark and orientation equipment, so we can't obtain the initial values of internal-external azimuth while photographing instantly. So the traditional methods can't process...
A new type of dot-distribution coded targets for digital industrial photogrammetry was presented in the paper. The coded target was composed of 5 template points and 3 code points. Different character strings were used as coder for each coded target, and the max capacity was 496. Affine transformation and cross ratio were adopted to decode the targets automatically and rapidly. Experiments proved...
Quantitative study of the characteristics of plants plays an important role in the plants' growth and development research, and non-destructive measurement of the height of plants based on machine vision technology is one of the difficulties. In this paper, a new algorithm which combined three-dimensional computer vision techniques and image processing method, is proposed to solve this problem. We...
According to the application of the planet detection, visual localization of the planet rover was studied in this paper. A corresponding robot arm plane localization simulation system for real rover robot arm based on stereo vision and virtual reality was developed. The system provided motion parameters of virtual robot arm to real arm by means of off-line teaching, which ensured the rover's safety...
In the distortion correction of camera lens, the methods employed to estimate the center of distortion are either complicated or requiring device to measure coordinates with high precision. By analyzing the geometric characters of circles with radial distortion, we find that the center of distortion must lies on the line which goes through every center of the distorted concentric circles. In this...
The technique of multi-sensor fusion has already been used widely in intelligent vehicle environment perception. The spatial calibration of the radar and camera is the basis for road detection with information fusion real-timely. So, a method of spatial calibration of radar and the camera has been proposed to implement the spatial calibration of the two sensors. The non-linear distortion of the camera...
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