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In this paper, the authors describe on a method of object identification by verification of Hough data. In this study, for corresponding to three-dimensional change of camera, we pay attention to the distribution pattern of Hough data. A positional relationship of the peaks as Hough data shows tendency to be kept, in case of camera shooting condition change. Using a characteristic of Hough data, it...
The complexity of natural scenes and the amount of information acquired by terrestrial laser scanners turn the registration among scans into a complex problem. This problem becomes even more challenging when two individual scans captured at significantly changed viewpoints (wide baseline). Since laser-scanning instruments nowadays are often equipped with an additional image sensor, it stands to reason...
This paper presents a novel solution to the autonomy of a Portable Robotic Device (PRD) for the visually impaired. The proposed method meets the PRD's requirement of providing 3D navigational information with a small-sized device. The proposed approach is to employ a 3D imaging sensor-the SwissRanger SR4000-for both pose estimation and perception. The SR4000 produces both intensity and range images...
Automatic construction of a full view panorama is an active area of research in the fields of photogrammetry, computer vision and computer graphics. Using fisheye camera for panorama generation could greatly reduce the number of images thanks to its wide field of view. A key step in creating panorama with fisheye camera is to estimate the cameras' motion parameters which are usually estimated by established...
We propose a novel method to accurately estimate the global position of a moving car using an omnidirectional camera and untextured 3D city models. The camera is oriented upwards to capture images of the immediate skyline, which is generally unique and serves as a fingerprint for a specific location in a city. Our goal is to estimate global position by matching skylines extracted from omni-directional...
Visual servoing consists of positioning a robot end-effector based on the matching of some object features in the image. However, due to the presence of image noise, this matching can never be ensured, hence introducing an error on the final location of the robot. This paper addresses the problem of estimating the worst-case location error introduced by image points matching. In particular, we propose...
In order to achieve the real-time, convenient, automatic and intelligent 3D vision measurement, this paper proposes a 3D vision measurement method based on binocular omni-directional vision sensor (ODVS), which can get the 3D panoramic image in real-time, this paper considers the human eyes as the center of vision space. At the process of gathering, processing, describing and expressing of data, this...
A stereoscopic catadioptric sensor and associated algorithms are presented to provide a relevant solution to the problem of 3D reconstruction of unknown environments. A novel calibration methodology is detailed, establishing a discrete relation between 3D points and the corresponding pixels. The 3D reconstruction adopted is an adaptation of the classic volumetric scene reconstruction technique. Complete...
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