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In this paper, we present MO-SLAM, a novel visual SLAM system that is capable of detecting duplicate objects in the scene during run-time without requiring an offline training stage to pre-populate a database of objects. Instead, we propose a novel method to detect landmarks that belong to duplicate objects. Further, we show how landmarks belonging to duplicate objects can be converted to first-order...
Spatial affordance can be defined as the functionality a space, or place, lends to human activity. Different places afford different activity possibilities - sleeping is mostly done in the bedroom, and cooking is mostly done in the kitchen. Semantic place labels like kitchen and bedroom, therefore, provide context with which a robot can better infer human activity. Real rooms, however, often defy...
Image-Based Rendering (IBR) allows good-quality free-viewpoint navigation in urban scenes, but suffers from artifacts on poorly reconstructed objects, e.g., reflective surfaces such as cars. To alleviate this problem, we propose a method that automatically identifies stock 3D models, aligns them in the 3D scene and performs morphing to better capture image contours. We do this by first adapting learning-based...
Visual localization is the process of finding the location of a camera from the appearance of the images it captures. In this work, we propose an observation model that allows the use of images for particle filter localization. To achieve this, we exploit the capabilities of Gaussian Processes to calculate the likelihood of the observation for any given pose, in contrast to methods which restrict...
It has been shown that local magnetic field (MF) anomalies can be used in accurate global self-localisation with fingerprinting. However, MF anomalies can only affect limited areas, and the low discernibility of received local MF signals may result in many positions having the same MF-Location information in areas far away from disturbances. This is mainly due to the sensitivity limitations of sensors...
Periocular characteristics are being used as a supplementary feature for the biometric systems employing iris characteristics to mitigate effects of the noisy iris on authentication performance. In the same lines, ocular characteristics are also used to enhance the performance of face based systems under the impact of pose, expression and illumination. However, the iris and face systems are operated...
This study validates the potential of a tabletop system to enhance students' quality and intensity of argumentation when engaging in co-located collaborative design activities. Twenty-four undergraduate students participated in a between-subjects design where one group used the proposed system and the other group used a paper-based approach. Overall students using the tabletop system over exceeded...
Biometric recognition of an individual can be done based on physiological characteristics such as a face, palmprint, vein, etc. and behavioural characteristics which include gait, keystroke, mouse dynamics, etc. Among the various biometric modalities, the wrist vein recognition has been known for high accuracy, stability and resistance to spoofing. The success of wrist vein biometrics strongly correlates...
More and more pedestrians own devices (as a smartphone) that integrate a wide array of low-cost sensors (camera, IMU, magnetometer and GNSS receiver). GNSS is usually used for pedestrian localization in urban environment, but signal suffers of an inaccuracy of several meters. In order to have a more accurate localization and improve pedestrian navigation and urban mobility, we present a method for...
The paper presents a thorough evaluation of two representative visual place recognition algorithms that can be applied to the problem of indoor localization of a person equipped with a modern smartphone. The evaluation focuses on comparing two different state-of-the-art approaches: single image-based place recognition, represented by the FAB-MAP algorithm, and recognition based on a sequence of images,...
Eye is the main sensing organ in human body, so it contributes much for user interface. Eye tracking has been widely used in Human Computer Interactions. Real time face image capturing along with eye gaze tracking can provide a means of user input to the computer. Here we combine an efficient method for tracking eye and detecting blink to produce an environment by which physically disabled persons...
In order to realize the Automation and intelligence of the identification and location of the insulator of the traction electric network, this paper proposes a new method for the identification and localization of the insulator in the contact network by using the stereo vision system and SURF. Firstly, we build the feature database of insulator based on the SURF feature extraction. Secondly, we processes...
In this paper, a feasibility study is conducted to estimate the pose of a vehicle based on a mono-camera using road direction signs and a public online database. The proposed algorithm uses a mono-camera to detect and segment the road direction sign and matches the detected sign image with the reference image in the database to calculate the relative pose between the road sign and the vehicle. Using...
Blur plays an key part in evaluating of camera image quality. It leads to decrease of high frequency information and accordingly changes the image energy. Recent researches in quaternion singular value decomposition show that the quaternion's singular values and associated vectors can capture the distortion of color images, and thus singular values can be utilized to assess the sharpness of camera...
Robot systems based on ROS are growing in popularity. While they are vulnerable from a cybersecurity perspective, they still provide a solid framework for many research projects. The components can easily communicate with each other, share information and send control commands freely and without major restrictions. In special fields (medical, military, etc.) such freedom is dangerous and not acceptable...
This paper presents a unique study of post-mortem human iris recognition and the first known to us database of near-infrared and visible-light iris images of deceased humans collected up to almost 17 days after death. We used four different iris recognition methods to analyze the dynamics of iris quality decay in short-term comparisons (samples collected up to 60 hours after death) and long-term comparisons...
As the research in ear biometrics grows, there is a need to have a publicly available ear images database for researchers to test and validate their methods. There are many available ear databases captured in visible light domain. However, images in those databases are mostly acquired in a controlled environment, not in naturally illuminated environments. Up to the point of writing, there is no thermalbased...
Biometric-based authentication for smart handheld devices promises to provide a reliable and alternate security mechanism compared to traditional methods such as pins, patterns, and passwords. Although fingerprints are a viable source for authentication, they generally require installation of an additional hardware such as optical and swipe sensors on mobile devices, and are only available in expensive,...
This report presents results from the Video Person Recognition Evaluation held in conjunction with the 8th IEEE International Conference on Biometrics: Theory, Applications, and Systems (BTAS). Two experiments required algorithms to recognize people in videos from the Point-and-Shoot Face Recognition Challenge Problem (PaSC). The first consisted of videos from a tripod mounted high quality video camera...
Image based indoor localization is an important problem with many useful application. This paper proposes an indoor localization system for performing fine localization and less latency with more priori information, including tile angel and the relative height between camera optical center and origin in reference coordinate system (RCS). The system is divided into two stages: offline stage and online...
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