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Localization of multiple active speakers in natural environments with only two microphones is a challenging problem. Reverberation degrades performance of speaker localization based exclusively on directional cues. The audio modality alone has problems with localization accuracy while the video modality alone has problems with false speaker activity detections. This paper presents an approach based...
An RGB-D camera is a sensor which outputs the distances to objects in a scene in addition to their RGB color. Recent technological advances in this area have introduced affordable devices in the robotics community. In this paper, we present a real-time feature extraction and pose estimation technique using the data from a single RGB-D camera. First, a set of edge features are computed from the depth...
This paper gives an insight in the preliminary results of an ongoing work about heterogeneous point feature estimation acquired from different type of sensors including structured light camera, stereo camera and a custom 3D laser range finder. The main goal of the paper is to compare the performance of the different type of local descriptors for indoor office environment. Several type of 3D features...
Since the visual system is susceptible to the lighting condition and surroundings changes, the accuracy for object localization of robot grasping system based on visual servo is rather poor so as to the low grasping success rate and bad robustness of the whole system. In view of such phenomenon, in this paper, we propose a method of fusing binocular camera accompany with monocular vision, IR sensors,...
This paper presents an effective egomotion solution based on high curvature image features described using local intensity histograms for stereo matching and tracking. To robustify the visual processing system, we propose feature extraction over moment image representation to overcome the adverse effects of illumination changes. A bundle adjustment optimisation technique, thoroughly analysed for different...
The mapping of environments is a prerequisite for many navigation and manipulation tasks. We propose a novel method for acquiring 3D maps of indoor scenes from a freely moving RGB-D camera. Our approach integrates color and depth cues seamlessly in a multi-resolution map representation. We consider measurement noise characteristics and exploit dense image neighborhood to rapidly extract maps from...
This paper presents a method for optimally combining pixel information from an infra-red thermal imaging camera, and a conventional visible spectrum colour camera, for tracking a moving target. The tracking algorithm rapidly re-learns its background models for each camera modality from scratch at every frame. This enables, firstly, automatic adjustment of the relative importance of thermal and visible...
Estimating heading information reliably from visual cues only is an important goal in human navigation research as well as in application areas ranging from robotics to automotive safety. The focus of expansion (FoE) is deemed to be important for this task. Yet, dynamic and unstructured environments like urban areas still pose an algorithmic challenge. We extend a robust learning framework that operates...
With proper calibration of its color and depth cameras, the Kinect can capture detailed color point clouds at up to 30 frames per second. This capability positions the Kinect for use in robotics as a low-cost navigation sensor. Thus, techniques for efficiently calibrating the Kinect depth camera and altering its optical system to improve suitability for imaging short-range obstacles are presented...
In this paper, we propose a novel motion detection method for moving human detection based only on range sensor. Different from the state-of-art frameworks on human detection field, our innovation is taking advantages of range data in motion detection and introducing a effective motion capture approach. In preliminary segmentation term the concept of Positive Motion is presented which can obtain points...
Road safety applications require the most reliable and trustable sensors. Context information plays also a key role, adding trustability and allowing the study of the interactions and the danger inherent to them. Vehicle dynamics, dimensions… can be very useful to avoid misdetections when performing vehicle detection and tracking (fusion levels 0 and 1). Traffic safety information is mandatory for...
This paper investigates the problem of robot visual homing — the navigation to a goal location by a mobile robot using visual sensory input. The visual homing approach taken is to consider the flow vectors between a robot's current view and a desired milestone view. The flow vectors can be used to determine an angular velocity command that attempts to align the two views under a constant forward speed...
A framework for 3D target reconstruction and relative pose estimation through fusion of vision and sparse-pattern range data (e.g. line-scanning LIDAR) is presented. The algorithm augments previous work in monocular vision-only SLAM/SfM to incorporate range data into the overall solution. The aim of this work is to enable a more dense reconstruction with accurate relative pose estimation that is unambiguous...
In this paper, the uncalibrated visual servoing problem of robot manipulators with motor dynamics will be addressed for the fixed-camera configuration. A new adaptive image-space visual servoing strategy is presented to handle uncertainties in the camera intrinsic and extrinsic parameters, robot kinematic and dynamic parameters, and motor dynamic parameters. To deal with the nonlinear dependence of...
LIDAR-only and camera-only approaches to global localization in planetary environments have relied heavily on availability of elevation data. The low-resolution nature of available DEMs limits the accuracy of these methods. Availability of new high-resolution planetary imagery motivates the rover localization method presented here. The method correlates terrain appearance with orthographic imagery...
In this paper we propose a two-tiered hierarchical Bayesian model to estimate the location of objects moving independently from the observer. Biological vision systems are very successful in motion segmentation, since they efficiently resort to flow analysis and accumulated prior knowledge of the 3D structure of the scene. Artificial perception systems may also build 3D structure maps and use optical...
Visual sensors and depth sensors, such as camera and LIDAR (Light Detection and Ranging) are more and more used together in current perception systems of intelligent vehicles. Fusing information obtained separately from these heterogeneous sensors always requires extrinsic calibration of vision sensors and LIDARs. In this paper, we propose an optimal extrinsic calibration algorithm between a binocular...
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