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The handling of twist-locks has been a heavy burden for the container industry. To address this challenge, we are developing a customized mobile manipulator for handling the twist-locks. In this paper, we propose a fast normal computation algorithm for depth image, which is able to use normal deviation along eight directions to extract key points for segmenting points into objects on manipulation...
In the percutaneous needle procedures using ultrasound (US) imaging, the needle should be detected precisely to avoid damage to the tissue and to get the samples from the appropriate site. Excessive artifacts and low resolution of the US images make it difficult to detect the needle and its tip. It is possible to enhance the needle image using image processing; and this work proposes a novel needle...
3D object detection and pose estimation often requires a 3D object model, and even so, it is a difficult problem if the object is heavily occluded in a cluttered scene. In this paper, we introduce a novel approach for recognizing and localizing 3D objects based on their appearances through segmentation of 3D surfaces. The approach can identify multiple occluded objects in a scene, which may include...
In this paper, we tackle the problem of mapping multiple 3D rigid structures and estimating their motions from perspective views through a car-mounted camera. The proposed method complements conventional localization and mapping algorithms (such as Visual Odometry and SLAM) to estimate motions of other moving objects in addition to the vehicle's motion. We present a theoretical framework for robust...
The determination of an individual's legal majority age is becoming increasingly important in forensic practice. Established age estimation methods are based on 2D X-rays, but suffer from problems due to projective imaging and exposure to ionizing radiation, which, without proper medical or criminal indication, is ethically questionable and legally prohibited in many countries. We propose an automatic...
The development of brain Magentic Resonance Imaging (MRI) is driving increasing demand for quantitative measurements. Quantitative MRI (qMRI) templates of relaxation times and proton density can be of particular interest for dedicated clinical applications such as characterizing brain tissue abnormalities, as well as general research purposes. In this paper, we have developed 3D qMRI statistical templates...
We present an adaptive weight based superpixel segmentation method for the goal of creating mesh representation that respects the 3D scene structure. We propose a new fusion framework which employs both dense optical flow and color images to compute the probability of boundaries. The main contribution of this work is that we introduce a new color and optical flow pixel-wise weighting model that takes...
We present a novel framework for robustly understanding the geometrical and semantic structure of a cluttered room from a small number of images captured from different viewpoints. The tasks we seek to address include: i) estimating the 3D layout of the room - that is, the 3D configuration of floor, walls and ceiling; ii) identifying and localizing all the foreground objects in the room. We jointly...
This paper proposes a robust and stable disparity map generation algorithm using phase-based correspondence matching. When considering the application of auto stereoscopic displays, an accurate, robust and stable disparity map generation algorithm is indispensable to synthesize multiview images from a stereo image pair. The proposed algorithm considers a motion between the previous and current frames...
Most existing approaches to indoor scene understanding formulate the problem based on the pinhole camera geometry. Unfortunately, these approaches cannot be utilized well for an omni directional image. In this paper, we focus on the problem of estimating the spatial layout of rooms from a single fisheye image. Considering the wide field of view of fisheye cameras, we introduce a structure symmetrical...
Efficient assessment of vascular structures plays a significant role in many medical procedures. We present a practical approach to segmentation of vascular tree in angiography images. It is implemented in an interactive 3D visualization-assisted system and consists of the following main steps. First, angiography image is filtered to enhance vessels and eliminate irrelevant structures. Second, the...
In this work, we propose a novel approach for improving center of gravity (COG) estimation of the brain in magnetic resonance (MR) images, that uses 3D Haar-like features. We hypothesize that better pose estimation will advance the posterior skull-stripping results of the popular Brain Extraction Tool (BET). The proposed methodology is quantitatively validated in 20 T1- and T2-weighted images of the...
We are developing a dietary assessment system that records daily food intake through the use of food images taken at a meal. The food images are then analyzed to extract the nutrient content in the food. In this paper, we describe the image analysis tools to determine the regions where a particular food is located (image segmentation), identify the food type (feature classification) and estimate the...
Considering the increasing need of the contents of 3D video, it is significant to do some research in 2D-to-3D conversion. The depth map is necessary for this processing. In this paper, we propose an effective method to estimate the depth information of the low depth field images of static scenes. Firstly, construct a high-order statistics (HOS) map, which represents the high-frequency components...
Transparent objects are ubiquitous in human environments but, due to their special interaction with light, very few vision methods exist to identify them. We propose a new algorithm for recognition and pose estimation of rigid transparent objects which can deal with overlapping instances and cluttered environments. Using an active depth sensor for segmentation of the objects and 2d edge analysis for...
We present a novel framework for estimating depth-map in a single 2D image. The proposed framework employs both vanishing point and superpixels as geometric and texture cues, respectively. The combination of both cues can generate a feasible perceptual depth-map, which will be applied to 2D to 3D image conversion.
This paper proposes an approach for 2D-to-3D conversion for multiview displays. It employs an object-based approach where objects at large depth differences are first segmented by semi-automatic tools. Appropriate depth values are assigned to these objects and the missing image pixels at the background are filled in by inpainting techniques so that different views of the image can be synthesized....
Content generation is one of the most critical issues for the growth of 3DTV services in future. New autostereoscopic displays, such as the Philips Wowreg 3D display have significant advantages, including improved 3D viewing experience, wider viewing angles, multiple viewers and no need for special glasses. However, due to their content formatting requirements (2D + depth), live-action content is...
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