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In this paper, we describe a novel method using only optical flow from a single camera and inertial information to quickly initialize, deploy, and autonomously stabilize an inherently unstable aerial vehicle. Our approach requires a minimal number of tracked features in only two consecutive frames and inertial readings eliminating the need of long feature tracks or local maps and rendering it inherently...
Cricket broadcast video analysis has had difficulty identifying aspects of the content such as the type of batting stroke or the direction of the field played towards. Here we construct a composite feature combining Optical flow analysis along with camera view analysis to model the type of shots played. The work first presents an improved camera shot analysis based on learning parameters from a small...
This paper presents a study of an important imaging system, called the plate refractive imaging system. The system comprises of a perspective camera looking through one or more planar parallel plates to the target imaging environment. Such as the perspective camera captures the object through an infrared filter which is used in the infrared navigator for surgeries. Sometimes, we have to calibrate...
As vehicles travel through a scene, changes in aspect ratio and appearance as observed from a camera (or an array of cameras) make vehicle detection a difficult computer vision problem. Rather than relying solely on appearance cues, we propose a framework for detecting vehicles and eliminating false positives by utilizing the motion cues in the scene in addition to the appearance cues. As a case study,...
This paper demonstrates a system for automatic detection of visual attention and identification of salient items at exhibitions (e.g. museum or an auction). The method is offline and is done on a video captured by a head mounted camera. Towards the estimation of attention, we define the notions of "saliency" and "interestingness" for an exhibition items. Our method is a combination...
This paper demonstrates several improvements on implementing a fast monocular visual slam system (MonoSLAM) to navigate indoor aerial vehicle. These improvements include designing for the framework of the navigation system, redesigning of landmark patch matching method and giving new rules updating the image patch to overcome some particularly bad situation when landmarks are insufficient. We demonstrate...
The dynamic appearance of vehicles as they enter and exit a scene makes vehicle detection a difficult and complicated problem. Appearance based detectors generally provide good results when vehicles are in clear view, but have trouble in the scenes edges due to changes in the vehicles aspect ratio and partial occlusions. To compensate for some of these deficiencies, we propose incorporating motion...
This paper presents a video completion algorithm using block matching for video stabilization. In order to fill in missing pixels, the proposed algorithm consists of three steps: i) mosaicking for covering the missing static, planar regions, ii) estimation of local motion vectors using the hierarchical Lucas-Kanade optical flow method, and iii) selection of the most similar patch in both spatial and...
We propose an efficient algorithm for motion deblurring with kernel estimation using consecutive images. First we estimate motion vectors between consecutive images using optical flow and RANSAC. Then we calculate the weights of motion vectors. The proposed method is similar to Ben-Ezra's method. The main difference is that we use a single camera for estimating a blur kernel and capturing a blurred...
Equipping mobile robots with an omnidirectional camera is very advantageous in numerous applications as all information about the surrounding scene is stored in a single image frame. In the given context, the present paper is concerned with detection, tracking and following of a moving object with an omnidirectional camera. The camera calibration and image formation is based on the spherical unified...
Image segmentation is a key topic in computer vision, serving as a pre-step in a number of robotics tasks, including object recognition, obstacle avoidance and topological localization. In the literature, image segmentation has been employed as auxiliary information in order to improve optical flow performance. In this work, an alternative approach is proposed, in which optical flow information is...
Previously, estimation of piled logs scattered in wide area is processed via hi-definition fixed camera which is not effective because the camera is attracted to be stolen. Therefore, the method to calculate area of segmented outdoor piled logs is now implemented on a smartphone which consists of an orientation sensor in order to benefit mobile usage and reduce cost of camera installation. The method...
This paper describes a power assisting control with human following function for robotic wheelchair. In our past research, visual feedback control of the wheelchair has been proposed for power assisting according to environmental changes, and it is useful for power assisted wheelchair to integrate several driving assistance, such as obstacle avoidance, following motion only from unified motion controller...
In this paper, we propose a spatio-temporal feature which is based on the appearance and movement of interest SURF key points. Given a video, we extract its spatiotemporal features according to every small set of frames. For each frame set, we first extract dense SURF key points from its first frame and estimate their optical flows at each frame. We then detect camera motion and compensate flow vectors...
Orientation estimation and pedestrian tracking in mobiles have been examined by many in the last few years. Using sensors filtering, sensors fusion and even extended Kalman filters, there are still problems with orientation estimation. Although MEMS based gyroscopes are relatively cheap, many phones still lack these devices, for this an optical flow based solution is presented. In this paper we demonstrate...
Motion blur in images is due to the relative motion between the camera and the moving object. Deblurring is an ill-posed problem due to the loss of spatial high frequencies during the reconstruction. It is well known that in the approach called flutter shutter, the shutter of the camera is opened and closed according to a pseudo-random binary sequence, which preserves high frequency spatial information,...
In this paper we present a novel method that estimates the motion parameters of a monocular camera, which is under unconstrained movement. Different from the traditional works which tackle the problem by establishing motion correspondences, or by calculating optical flows within the image sequence, the proposed method estimates the motion parameters directly by using the information of spatio-temporal...
Automated monitoring of activities of elderly is very important in the field of elderly healthcare. While fast and precise detection of falls is critical in providing immediate medical attention, other activities like walking, sitting and lying down can provide valuable information for early diagnosis of potential health problems. Recently, wearable smart cameras have emerged as a new area of research,...
Various motion detection methods have been proposed in the past decade, but there are seldom attempts to investigate the advantages and disadvantages of different detection mechanisms so that they can complement each other to achieve a better performance. Toward such a demand, this paper proposes a human action detection and recognition framework to bridge the semantic gap between low-level pixel...
A star sensor based new method for estimation of satellite angular rates through derivative approach is proposed. The method is based on “optic flow” of star image patterns formed on a star sensor array. The satellite angular rates are derived directly from the 2D-coordinates of star images. Therefore, the proposed algorithm is computationally efficient in the category of vector derivative approach,...
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