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Digital comparative holography is an important method deployed for working on verifying the body or contortion of two corresponding entities with different micro architecture. The percolation theory is a useful mathematical theory that describes the behavior of connected clusters in a randomly generated graph which can be derived from a picture. Percolation theory is also regarded as a model for displaying...
We present a system that measures veillance flux, the ability of a camera to see, as the flux propagates through space. By wearing a veillance-integrating device, individuals are given an accumulated dosage readout based on their presence or absence in the veillance field of various cameras. The dose readout can be used as a score for players in an image-capture gaming environment, and as a means...
Towards the goal of autonomous obstacle avoidance for mobile robots, we present a method for superpixel labeling using optical flow templates. Optical flow provides a rich source of information that complements image appearance and point clouds in determining traversability. While much past work uses optical flow towards traversability in a heuristic manner, the method we present here instead classifies...
This document describes the design process of fisheye optics designed for omnidirectional perception in automated guided vehicles. Requirements for a custom designed fisheye lens are first derived from the application requirements. Based on these requirements the selected measurement geometry and lens design are explained and justified. Some expected optical performance values are listed and also...
Sensitivity of microbolometer Terahertz (THz) focal plane array (FPA) is improved by one order of magnitude at 0.5–0.6 THz, comparing with the previous THz-FPA. This is achieved by modifying an optical cavity structure in a pixel, such that the optical cavity length is extended by a factor of 4–5 than that of the previous structure. Minimum detectable powers (MDPs) per pixel are measured at 4.3, 2...
In this paper we present a new approach for data exfiltration by leaking data from monitor's LED to Smartphone's camera. The new approach may be used by attackers to leak valuable information from the organization as part of an Advanced Persistent Threat (APT). The proof of concept that was developed is described in the paper followed by a description of an experiment that demonstrates that practically...
This paper deals with the development of an optical based scanning method for a new autonomous stair-climbing wheel chair. Therefore, two different 3D data acquisition methods are compared, a stereo camera system and a RGB-D camera (Kinect™ from Microsoft®). After that, an image based algorithm calculates the step width and height in order to support the wheelchair with control information. As both...
This paper addresses an agent and high resolution image sonar based underwater vehicle's localization method for underwater docking. A novel concept of AUV docking system is proposed. The agent and the support AUV are connected with a tether. For sensing, the agent uses the optical camera and the AUV uses the image sonar. For the agent's localization, the AUV's image sonar guides the agent, wide range...
In recent years, unmanned autonomous vehicle navigation technology or UAV research is a hot topic in the field of machine vision, and obstacle detection is the basis of autonomous navigation. In this thesis, the author analyzed the deficiency of stereoscopic vision and classified current monocular obstacle detection algorithms. According to the properties of algorithms, this paper elaborated the function...
In this paper a human action recognition algorithm based on two-view of optical flow in multiple layers per camera employing the transform domain and 2DPCA is presented. This method explores more distinctive features between actions. It is not sensitive to translation, alignment and noise. In addition the use of 2DPCA maintains the spatial relation between pixels and increases the recognition accuracy...
A non-frontal camera has its lens and sensor plane misaligned either due to manufacturing limitations or an intentional tilting as in tilt-shift cameras. Under ideal perspective imaging, a geometric calibration of tilt is impossible as tilt parameters are correlated with the principal point location parameter. In other words, there are infinite combinations of principal point and sensor tilt parameters...
In camera calibration, the radial alignment constraint (RAC) has been proposed as a technique to obtain closed form solution to calibration parameters when the image distortion is purely radial about an axis normal to the sensor plane. But, in real images this normality assumption might be violated due to manufacturing limitations or intentional sensor tilt. A misaligned optic axis results in traditional...
This paper considers problem of localization for an aerial robot in unstructured indoor environments. A vision correction method based on linear characteristics is proposed. The dynamic model is established using an optical flow sensor. Use a strap-down camera to capture the frame of perpendicular line on the ground, and calculate the global position of their intersection point. As an observation,...
The miniaturization of digital imaging systems is currently reaching both physical and technological limits for conventional setups. Further ongoing miniaturization leads to a reduction the spatial resolution and the signal-to-noise ratio of the digital imaging system. Additionally, there are technological challenges which lead to extremely tight fabrication tolerances and thus represent an unacceptable...
Motion capture is useful way to interact with CG in AR space. However, typical systems are not robust against occlusion because they are using a number of cameras to capture markers placed on the body. Therefore we propose the wearable motion capture system that acquires human motion directly from various points on the body. Furthermore, acquisition of muscle activity with EMG sensor is used for recognition...
In this paper, we introduce a novel method to detect abnormal crowd activity: crowd running suddenly. This method is based on the whole motion intensity of the crowd which can be obtained by accumulating all optical flow vectors of a frame. Then we can detect the abnormal crowd activity by setting a threshold to detect whether the motion intensity changed suddenly. However, the computation of the...
In this paper we present an algorithm for 3D map generation with an RGB-D sensor. The purpose of the generated map is to improve the navigation and localization abilities of a mobile robot. Single RGB-D frames were captured and a complex 3D representation was created using simple geometric transformations.
We address obstacle avoidance for outdoor flight of micro air vehicles. The highly textured nature of outdoor scenes enables camera-based perception, which will scale to very small size, weight, and power with very wide, two-axis field of regard. In this paper, we use forward-looking stereo cameras for obstacle detection and a downward-looking camera as an input to state estimation. For obstacle representation,...
Autonomous robots need to make sense of their surroundings, recognize objects, detect and, possibly, identify the people around them. Visual perception would be ideally suited for these tasks. Yet, visual perception remains one of the limiting factors of modern robotics: artificial vision systems tend to perform poorly in normal environments, where the scene and the illumination conditions are unpredictable...
We formulate the position-based visual servoing problem for a quadrotor equipped with a monocular camera and an IMU relying only on features on planes and lines in order to fly above and perch on arbitrarily oriented lines. We show that we are able to compute the orientation of an arbitrarily oriented line, the speed of the robot and its position with respect to the target line using two points at...
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