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Real-time recovering an accurate 6 DoF pose of a known planar target is essential for augmented reality and robotics applications. Despite several pose estimation tracking systems have been proposed over recent years, there is still the need for a more efficient and more accurate solution for general planar objects. In this work, we develop an innovative GPU implementation of a real-time pose estimation...
In this work, we develop a novel keyframe-based dense planar SLAM (KDP-SLAM) system, based on CPU only, to reconstruct large indoor environments in real-time using a hand-held RGB-D sensor. Our keyframe-based approach applies a fast dense method to estimate odometry, fuses depth measurements from small baseline images, extracts planes from the fused depth map, and optimizes the poses of the keyframes...
In this work, we present a solution to real-time monocular dense mapping. A tightly-coupled visual-inertial localization module is designed to provide metric and high-accuracy odometry. A motion stereo algorithm is proposed to take the video input from one camera to produce local depth measurements with semi-global regularization. The local measurements are then integrated into a global map for noise...
In this paper we present a real-time collision check algorithm based on the parallel computation capabilities of recent graphics card's GPUs. We show an effective application of the proposed algorithm to solve the task-constrained real-time motion planning problem for a redundant manipulator. We propose a proof-of-concept motion planner based on fast collision check of predicted robot motion over...
3D ball tracking is a critical function in manyapplications such as game and players behavior analysis, andreal time implementation has become increasingly importantfor it can be used for live broadcast and TV contents. To reacha high accuracy, algorithms usually are time consuming due toa large set of calculations which is challenging to meet realtime demanding. This paper proposes multiple commandqueues,...
In this study, we developed a real-time GPU-based high frame rate (HFR) high dynamic range (HDR) imaging system at 500 fps from sequential 4 different low dynamic range (LDR) exposures which exposure time is controlled automatically by our high-speed virtual multi-thread exposure control module. Our automatic exposure (AE) control system is separated as 4 different threads virtually to simultaneously...
In this paper, we describe how to establish an embedded framework for real-time top-view people counting. The development of our system consists of two parts, i.e. establishing an embedded signal processing platform and designing a people counting algorithm for the embedded system. For the hardware platform construction, we use Kinect as the camera and exploit NVIDIA Jetson TK1 board as the embedded...
In this paper, we will explore and develop an embedded real time system and associated algorithms that enable an aggregation of limited resource, low-quality, projectionenabled mobile devices to collaboratively produce a higher quality video stream for a superior viewing experience. Such a resource aggregation across multiple projector enabled devices can lead to a per unit resource savings while...
In this work we address the problem of 3D mapping of environments with large textureless regions, which generates sparse 3D maps that may not represent well the mapped scene. To deal with this problem, we propose to enhance sparse 3D maps by using a superpixel-based segmentation with the aim of generating denser 3D maps of the scene in real time. This can be exploited in virtual reality applications...
Omni-directional cameras are widely used in many applications such as surveillance systems and endoscopy. Omnidirectional cameras use a single camera and a reflective mirror to capture elliptic omnidirectional images and then transform the elliptic omnidirectional images to panoramic images. To accelerate the transformation from elliptic omnidirectional images to panoramic images, this paper proposes...
In this study, we propose a method for panoramic background subtraction by using Pan-Tilt cameras in real-time. The proposed method is based on parallelization of image registration, panorama generation and background subtraction operations to run on Graphics Processing Unit (GPU). Experiments results showed that GPU usage increases speed of the algorithm 33 times without considerable performance...
Real-time applications such as telepresence systems present an opportunity to use embedded GPUs for compute acceleration to meet platform goals. In this paper, we develop a prototype of a portable, standalone telepresence robot that performs real-time attention-directed control using an NVIDIA Jetson TK1 embedded platform. We perform platform-specific optimizations to improve thread occupancy, optimize...
In this paper a navigational aid for visually impaired people is presented. The system uses a RGB-D camera to perceive the environment and implements self-localization, obstacle detection and obstacle classification. The novelty of this work is threefold. First, self-localization is performed by means of a novel camera tracking approach that uses both depth and color information. Second, to provide...
Modern smartphone display system come equipped with powerful GPU's capable of rendering advanced 2D and 3D graphics. These GPU's make up a significant portion of the system power profile due to the high resolution and framerate of smartphone display. These display features are selected during the design phase of a smartphone and correspond to the capabilities of the human visual system (HVS). However,...
In order to improve the ability of arithmetic of school children, we develop a real-time magic square solver based on NVIDIA Jetson TK1, which recognizes user's puzzle images and then shows several hints and an answer of the puzzle in real-time. We also confirm the effectiveness of image recognition and our puzzle solver by experiments.
Graphics applications have generated visual effects increasingly realistic and for such purpose, reflection effects are essential. To render realistic images, the reflectance of surfaces must be simulated accurately. In this context, it is common to use ray tracing, since it represents with great fidelity the behavior of light. However, ray tracing is still a very costly algorithm, so far indicated...
This paper introduces the real-time flash flood detection method for stationary surveillance cameras. It can be applied for rural and urban areas and capable of working during day time. The background subtraction was used to detect all changes appear in a scene. After this step, many pixel belonging to the same moving objects may be divided. They are united by morphological closing. Too small separate...
This paper introduces the smoke detection method for surveillance cameras. The background subtraction was used to determine moving objects. Color probability was utilized to find possible smoke pixels in a scene. Separate pixels, acquired by background subtraction, were united by morphological operations and connected components labeling methods. The existence of the smoke region is then confirmed...
Face detection and recognition are key components in multiple camera-based devices and applications. Smart glasses are a type of optical head mounted displays that integrate first-person cameras and hands free displays with immediate access to processing power able to analyze first person images in real time with hands free operation. In this context, we have constructed an application prototype that...
Fast evolution of high-performance cameras in recent years has made them promising tools for observing transient and fast events in large-scale scientific experiments. Complex experiments, such as ITER, take advantage of high-performance imaging system consisting of several fast cameras working in the range of visible and infrared light. However, the application of such devices requires a usage of...
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