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Due to the low weight of monocular camera, monocular Simultaneous Localization and Mapping (SLAM) is an area of popular research and promotes countless applications of micro Unmanned Aerial Vehicles (UAVs), especially in some GPS-denied indoor environments. Nevertheless, the motion of UAVs is often faster and more complex than that of ground-based robots. It would also lead to error accumulation if...
The tremendous growth in the availability of texture+depth(RGBD) content has motivated researchers to focus into the area of features that uses geometrical information given by depth. These features are more efficient and robust than the existing 2D features under large variations in camera viewing angles. In this paper, the performance evaluation of the keypoint detector for two views of a scene...
The paper is devoted to the problem of the log pile 3D modeling by the images of its ends. Recognizing of the spatial structure of the log pile gives information about logs orientation, which is necessary for the log pile volume measurement with high accuracy. There are two possible alternatives: one or two images of the log pile ends. In case of two images the problem of the pile structure recovering...
Time-of-flight (TOF) depth cameras provide robust depth inference at low power requirements in a wide variety of consumer and industrial applications. These cameras reconstruct a single depth frame from a given set of infrared (IR) frames captured over a very short exposure period. Operating in this mode the camera essentially forgets all information previously captured - and performs depth inference...
We present a new insight into the systematic generation of minimal solvers in computer vision, which leads to smaller and faster solvers. Many minimal problem formulations are coupled sets of linear and polynomial equations where image measurements enter the linear equations only. We show that it is useful to solve such systems by first eliminating all the unknowns that do not appear in the linear...
This paper tackles the photometric stereo problem in the presence of inaccurate lighting, obtained either by calibration or by an uncalibrated photometric stereo method. Based on a precise modeling of noise and outliers, a robust variational approach is introduced. It explicitly accounts for self-shadows, and enforces robustness to cast-shadows and specularities by resorting to redescending M-estimators...
Structure-From-Motion (SFM) method is based on the same scene and different angles of the captured sequence of image, then calculate the feature points in the photogrammetric coordinate system of three-dimensional coordinates and camera parameters. SFM can directly generated orthophoto map just by captured overlapping images, but mosaicking accuracy has not to be verified. The purpose of this study...
This paper describes the use of Unmanned Aerial Vehicle (UAV) technology to fight apple scab. Specifically, it shows how it is possible to improve the scab risk evaluation basing on the actual apple leaves development status, yielded from UAV images, as input to the infection model. For this purpose, we introduce a new index, called Leaf Development Index (LDI), which is evaluated during the main...
In this paper, a novel method for measuring the relative pose of the triangular feature with unknown size is proposed by introducing line structured light. Firstly, the coordinate system model is established, and the relative relationship between each coordinate system is given; Secondly, by using the isosceles property of the triangular bracket and the line structured light constraint, three vertices'...
The robots in warehouse have boosted the efficiency and economic benefits of the logistic industrial chain. This paper provides a deep learning, single-camera-based solution to navigate vehicles in warehouse. Firstly we train a Faster R-CNN model to detect shelf-legs and tags in the captured image. To position the localized objects into the world coordinate, we then present a precise Inverse Perspective...
Mobile video consumption and applications are limited by the bandwidth of the communications channel and the resources on the devices. In this work, the latter limitations are alleviated through the use of the Cloud to render high definition video in free-viewpoint applications. A Cloud-based system is developed to port the free-viewpoint application into a distributed and multithreaded environment...
An autonomous navigation scheme for unmanned aerial vehicles is presented based on visual and inertial measurement information fusion without the known ground cooperative target. The UAV relative translation and rotation motion parameters are estimated by inter-frame image feature detection and tracking. Then the relative motion parameters are considered to be the relative pose measurements of two...
Reproducible, robust robot control is particularly challenging at the microscale, where lesser understood surface forces, such as friction, dominate volumetric forces, such as magnetic attraction. In such an environment, an adaptive (or “uncalibrated”) controller which can dynamically adjust to changes in the operation environment is essential. This paper describes an uncalibrated controller utilizing...
Efficient and robust detection of humans has received great attention during the past few decades. This paper presents a two-staged approach for human detection in RGB-D images. As the traditional sliding window-based methods for target localization are often time-consuming, we propose to use the super-pixel method in depth data to efficiently locate the plausible head-top locations in the first stage...
A simple and efficient method is presented to enhance the depth perception of an image. The approach termed Depth-Stretch (D-stretch) is a tone mapping operation that is applied to the shading component of the given image. Although re-rendering a scene under geometric transformations typically requires extracting the 3D model of the scene, we show that under very simple assumptions D-stretch can be...
Autonomous underwater docking recovery of UUV to a moving platform dock is presented in this paper. Suited docking strategy and control method is designed to realize accurate, safe and fast docking of UUV based on an optical terminal guidance system with two cameras and two guiding lights. The kinematics and dynamics of UUV during docking process is modeled to describe the hydrodynamic interaction...
Specular highlights provide information about the shape of an object. Its characteristics are mostly unwanted in computer vision due to violation of the Lambertian assumption, which most algorithms require. Instead of neglecting this ubiquitous phenomenon we harvest it to extract surface normals with very high accuracy. Compared to photometric stereo our method works with multiple views and a fixed...
In the present investigation the images with the minimum pixelation required for the inspections of maintenance inside the electrical substation are indicated. In addition, three polynomial functions are obtained based on the heat radiation of the half-voltage disconnecting switches, since these contain the highest temperature values in the images captured in a range between −3 and 39 degrees Celsius...
The use of dashboard-mounted video cameras is rapidly spreading in many countries around the world. Widespread usage of dash-cams brings new problems, for example, dash-cam videos are uploaded on public websites which contain footage of other cars with the number-plates visible. This can potentially compromise privacy. Further, dash-cam videos can be used as evidence in case of accidents. There have...
With the rise of end-to-end learning through deep learning, person detectors and re-identification (ReID) models have recently become very strong. Multi-target multicamera (MTMC) tracking has not fully gone through this transformation yet. We intend to take another step in this direction by presenting a theoretically principled way of integrating ReID with tracking formulated as an optimal Bayes filter...
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