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This demo addresses the problem of recovering the structure of a 3D scene from two views of a scene composed by textured planar surfaces. In this work, we propose a framework that exploits geometrical and algebraic constraints induced by rigidity and planarity in the scene. We present the 3D reconstruction of multi-planar environments as a multi-linear problem expressed in terms of the planar homographies...
Bundle adjustment (BA) which produces highly accurate results for visual Simultaneous Localization and Mapping (SLAM) could not be used for Micro-Aerial Vehicles (MAVs) with limited processing power because of its O(N3) complexity. We observed that a consistent ground plane often exists for MAVs flying in both the indoor and outdoor urban environments. Therefore, in this paper, we propose a visual...
Determining pose or exterior orientation of a camera is an important step in surface reconstruction and subsequent steps such as perceptual organization and object recognition in photogrammetry or computer vision. Pose refers to position and attitude of a perspective camera at the time of exposure. It is generally determined using a set of points in object space and image space. Using free-form lines...
Emerging applications like smart environments and observation systems can benefit significantly by making use of semantics provided by floorplan of the environment. Cameras in the system can be calibrated with respect to the floorplan which allows their coverage to be automatically labeled with semantically meaningful regions like walls, floors and doors. Calibration with respect to floorplan requires...
There have been many approaches to obtain 3D modeling and camera calibration simultaneously from uncalibrated images using parallelism, orthogonality and self-calibration constraints. These approaches can give more stable results with fewer images and allow us to gain the results with only linear operations in most cases. It has been proved that the estimation results are accurate enough to be used...
A fully automatic 3D reconstruction method based on images without manual modeling is presented in this paper. The method extracts 3D information from 2D images directly. Firstly, the feature points must be extracted from the images and then we match these corresponding points. Secondly, to determine the coordinates of 3D points, we should calculate the fundamental matrix, along with the extrinsic...
This paper presents a new method for the detection and 3D reconstruction of the road lane using onboard stereovision. The proposed algorithm makes it possible to overcome the assumptions commonly used in most of the detection systems using monocular vision such as: flat road, constant pitch angle or absence of roll angle. The proposed method of detection and 3D reconstruction is based on two modules...
In this paper, a new method for 3D reconstruction of urban building based on computer vision was presented. Sequence of images was captured by a single camera. Feature points in the images were firstly extracted and tracked, and then the trajectories were analyzed. Intrinsic and external parameters of camera were derived from self-calibration, and then 3D information of objective building was finally...
Heterogeneous sensor networks (HSNs) are becoming more commonly used for purposes such as monitoring and surveillance, as they offer richer sources of data for situational awareness. An important aspect of HSNs is localization. In this paper, we describe a novel method for localizing a network of cameras equipped with wireless radios. Our method fuses both the image data and radio interferometry data...
A remote video-based head pose detection system is useful to observe the behavior of the driver, e.g., prevention oft the driver from failing to keep the eyes on the road. In addition, if the precision of the system is high, it may be used as a pointing device. We have already proposed a horizontal and vertical head pose estimation method using the 3-D positions of the two pupils and two nostrils,...
There are two steps in using 3D computer vision to extract metric information from 2D images. Camera calibration is the first step, and this paper analyses and compares the three popular calibration methods: typical linear calibration, Tsaipsilas two-stage calibration and Zhangpsilas planar pattern calibration by measuring the position of space points. It is concluded that Zhangpsilas method has the...
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