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In this work, we present an algebraic solution to the classical perspective-3-point (P3P) problem for determining the position and attitude of a camera from observations of three known reference points. In contrast to previous approaches, we first directly determine the cameras attitude by employing the corresponding geometric constraints to formulate a system of trigonometric equations. This is then...
Many emerging motion-related applications, such as virtual reality, decision making, and health monitoring, demand reliability and quick response upon input changes. Motion capture has been a well-researched topic in the past decades with applications in many industries. The ability to capture motion goes hand in hand with real-time capability in a system. This paper gives an overview on real-time...
Unmanned Aerial Vehicles (UAVs) is a kind of aircraft performing certain intelligence without pilot. To fulfill complex and practical tasks, accurate state estimation is an essential subject of UAVs. However, UAV is easy to be lost and hardly to be localized again in the unknown environments due to low features and strong flexibility in the previous SLAM system. In this paper, a rectification strategy...
We present an efficient pose tracking method for mobile augmented reality. Although the conventional pyramid-based coarse-to-fine approach has good precision and robustness, it is too complex for low-spec mobile devices and speeding up pose tracking is essential. The proposed method focuses on the rapidity and linearity of the movement between successive frames, and omits unnecessary processing such...
Recently, advanced driver assistance system becomes an important area for automotive industries. Especially, stereo vision-based system has been actively researched. However, in practice, the system has a difficulty in getting correct information because the images from multiple cameras may contain different exposure levels, illumination changes, and lighting geometry differences. To isolate these...
Video has difficulty to maintain consistent intensity and color tone from frame to frame. Particularly, it happens when imaging device such as black box camera has to deal with fast changing illumination environment. However, conventional automatic white balance algorithms cannot handle this good enough to maintain tone consistency, which is observed in most commercial black box products. In this...
Depth information can be obtained using stereo matching algorithms, which compute the horizontal displacement (disparity) of the corresponding points and convert to depth information using the triangular relation. However, the matching process is challenging with presence of textureless regions. This paper proposes a novel disparity refinement method for stereo matching based on Semi-global Matching...
Catadioptric omnidirectional view sensor has a convenient 360 degree field of view that favours various robotic applications. The distortion nature in omnidirectional view images allows the discovery of a new robust image feature in the form of vertical/central propagating lines. In this paper, we proposed an improvement to the existing vertical line detection algorithm using Haar wavelet transform...
Existing dual image deblurring methods usually model blurred image pairs being taken from exactly the same viewpoint and restore a single clear image. This imposes a strong assumption that the latent clear images of both images must be completely identical. In contrast to this restricted scenario, we assume that the restored pair are different, but can be approximated by image warping due to small...
Reading life log is a type of techniques to automatically and unconsciously record people's reading intentions, interests and habits. Besides, it can also serve as various assistants in our daily life. In this paper, a reading-life log system is implemented by a head-mounted and unobtrusive video camera with a high resolution and a high shutter speed. We utilize DP matching, and propose a text-based...
In this video, we present our latest results towards fully autonomous flights with a small helicopter. Using a monocular camera as the only exteroceptive sensor, we fuse inertial measurements to achieve a self-calibrating power-on-and-go system, able to perform autonomous flights in previously unknown, large, outdoor spaces. Our framework achieves Simultaneous Localization And Mapping (SLAM) with...
Pose tracking technique has great potential for many applications such as marker-free human motion capture system, Human Computer Interactions (HCI), and video surveillance. Though many methods are introduced during last decades, self-occlusion - one body part is occluded by another one - is still considered one of the most difficult problems for 3D human pose tracking. In this paper, we propose a...
In this paper, we proposed a fast people counting method using the sampled motion statistics. Unlike most traditional approaches uses tracking methods to monitor the moving target until passing through the gate (or region), our method only analyzed motion information in the region of interest to achieve bi-directional people counting. By setting a variety of parameters, a sampled image area according...
This paper proposes a novel method for detecting hand-raising gestures in meeting room and classroom environments. The proposed method first detects faces in each frame of the video sequence in order to define the region of interest (ROI). Then the system locates arms in the region of interest by analyzing the geometric structure of edges on the arm instead of directly detecting the hand. The location...
Multiple people tracking from multiple cameras can suffer from various problems, particularly from inter-person occlusions. This paper attempts to solve the problems by analyzing the view visibility and ranking the reliability of the cues from 2D views. It combines the visibility with the smoothness constraints into a probability framework, which offers a more flexible and robust estimation. Moreover,...
This paper presents a novel real-time approach for robust high precision and high quality depth estimation. It extends recent work on real-time Patch-Sweeping by combining the advantages of a robust hybrid stereo-based disparity estimator with the high accuracy of the Patch-Sweeping approach. It overcomes limitations of the existing Patch-Sweep approach, such as limited search range. Further, it implicitly...
Pedestrian recognition is a challenging problem in non-overlapping multi-camera object tracking. In this paper, we present a novel approach for matching pedestrians across non-overlapping multiple cameras without the need of a training phase or spatio-temporal cues across cameras. To deal with viewpoint changes, we introduce the concept of directional angles estimated using the spatio-temporal continuity...
We present a system which registers image sequences acquired by very different sources, so that multiple views could be transformed to the same coordinates system. This enables the functionality of automatic object identification and confirmation across views and platforms. The capability of the system comes from three ingredients: 1) image context enlargement through temporal integration; 2) robust...
This paper presents the results of the crowd image analysis challenge of the PETS2010 workshop. The evaluation was carried out using a selection of the metrics developed in the Video Analysis and Content Extraction (VACE) program and the CLassification of Events, Activities, and Relationships (CLEAR) consortium. The PETS 2010 evaluation was performed using new ground truthing created from each independant...
In this paper, we propose a method to estimate the fundamental matrix for hybrid cameras robustly. In our study a catadioptric omnidirectional camera and a perspective camera were used to obtain hybrid image pairs. For automatic feature point matching, we employed scale invariant feature transform (SIFT) and improved matching results with the proposed image preprocessing. We also performed matching...
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