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This paper presents a solution to the Projective Structure from Motion (PSfM) problem able to deal efficiently with missing data, outliers and, for the first time, large scale 3D reconstruction scenarios. By embedding the projective depths into the projective parameters of the points and views, we decrease the number of unknowns to estimate and improve computational speed by optimizing standard linear...
Allowing for a priori optimization of the robot manipulation to improve the performance in the unmanned environment, it is critical for the augmented reality system to estimate the attitude of point clouds in model reconstruction. The estimation of planar parameter is not always faithful for point cloud fitting, because the gross errors and outliers are not considered in by the traditional plane fitting...
Considered as the free accessible and suitable solution for positioning in urban areas, Global Navigation Satellite Systems (GNSS) have been widely used these recent years in a wide spectrum of applications. However, signal blockage, non-line-of-sight (NLOS) multipath interferences and signal degradation affect the system performance and represent the major hurdles of GNSS in it course of adoption...
Object localization is a powerful technique to analyze certain features on particular objects for either general or specific purpose(s). To localize object within image frames, the background subtraction scheme is generally implemented as an unequivocal technique that pre-processes die corresponding input frame. Nevertheless, despite the prior developments and applications of various techniques for...
The linear mixture model (LMM) assumes a hyperspectral pixel spectrum to be a linear combination of endmember spectra corrupted by additive noise. This model is widely used for spectral unmixing mainly because of its simplicity. However, the LMM can be inappropriate in presence of nonlinear effects, endmember variability or outliers. This paper presents a comparison between recent robust hyperspectral...
Appearance model is widely used for image description and demonstrates an impressive performance in object detection. However, most appearance models can not be applied to more freedom object in still image, especially when dealt with variant objects whose shapes are modified by warping, rotation, etc. In this article, a simple but effective method to build a regional rotation-invariant feature descriptor...
This paper describes a localization technique for a mobile robot in an environment with many unknown obstacles, such as pedestrians. To realize robust localization against unknown obstacles by using a particle filter, a space observation model has conventionally been used. However, this approach requires a lot of computation time for matching voxel. Therefore, in this study, we propose a fast matching...
Automatic registration of 3D scans with RGB data is studied in this paper. In contrast to bulk of research in the field which deploy 3D geometry consistency, local RGB image feature matches are used to solve the unknown 3D rigid transformation. The key novelty in this work is the introduction of a new simple measure, we call “Depthscale measure”, which logically represents the size of the local image...
Non-uniform camera shake removal is a knotty problem which plagues the researchers due to the huge computational cost of high-dimensional blur kernel estimation. To address this problem, we propose an acceleration method to compute the 3D projection of 2D local blur kernels fast, and then derive the 3D kernel by interpolating from a minimal set of local blur kernels. Under this scheme, a perpendicular...
As laser scanners become widely used in 3D data acquisition of industrial sites, one challenging problem emerges: given two data of the same site scanned/modeled at different times, how can we tell the difference between the two? In this paper, we formulate this problem as the 3D change detection problem, and propose a novel method for detecting object-level changes. In general, we notice that the...
We present a robust, real-time 3-D face tracking and modeling system providing accurate 6 degree-of-freedom head pose in the presence of large out-of-plane motion, strong expression changes, and partial occlusions. In this paper, we have extended the previous 3-D face tracking and modeling framework [10] with automatic initialization, reacquisition, and automatic pose correction. Our system first...
A novel scene recognition method that utilizes local appearance descriptions together with geometrical invariants for multiview scene matching is presented in this paper. The rationale behind this effort is to complement the lowered discriminative capacity of local features, with invariant geometric descriptions. Presented method is evaluated by comparison with a prominent baseline method, which utilizes...
This paper presents an object recognition method; feature X-D such as Kanade- Lucas-Tomasi Feature (KLT)-D and Speeded-Up Robust Features (SURF)-D. The main idea of the proposed algorithm is to use distance method to achieve rotation and position invariance. The anchor point, a center point of the target boundary region, is proposed in this paper as the basis of the pose estimation and it can be obtained...
Gaze estimation is a key technology to understand a person's interests and intents, and it is becoming more popular in daily situations such as driving scenarios. Wearable gaze estimation devices are use for long periods of time, therefore non-active sources are not desirable from a safety point of view. Gaze estimation that does not rely on active source, is performed by locating iris position. To...
In this paper, we propose a robust algorithm for 3D object pose estimation from a single 2D image. The proposed pose estimation algorithm is based on modifying the traditional image projection error function to a sum of squared image projection errors weighted by their associated distances. By using an Euler angle representation, we formulate the energy minimization for the pose estimation problem...
Automatic recovery of 3D human pose from monocular image sequences is a challenging and important research topic with numerous applications. Although current methods are able to recover 3D pose for a single person in controlled environments, they are severely challenged by real-world scenarios, such as crowded street scenes. To address this problem, we propose a three-stage process building on a number...
The environment perception and driver assistance (.enpeda..) project searches for solutions for vision-based driver assistance systems (DAS) which are currently starting to be active safety components of cars (e.g., lane departure warning, blind spot supervision). We review current projects in .enpeda.. in the international context of developments in this field.
This paper presents a head pose and facial feature estimation technique that works over a wide range of pose variations without a priori knowledge of the appearance of the face. Using simple LK trackers, head pose is estimated by Levenberg-Marquardt (LM) pose estimation using the feature tracking as constraints. Factored sampling and RANSAC are employed to both provide a robust pose estimate and identify...
In this paper, a new simple, adaptive, high-capacity steganographic algorithm for 3D models using contour theory in spatial domain is proposed. Every vertex of a 3D model can adaptively embed variable 3sigma (sigmages1) bits using contour space subdivision and multi quantization index modulation (MQIM) with low distortion. We first use vertex weight estimation which is used to estimate the degree...
In this paper, we present a new robust camera pose estimation approach based on 3D lines tracking. We used an extended Kalman filter (EKF) to incrementally update the camera pose in real-time. The principal contributions of our method includes first, the expansion of the RANSAC scheme in order to achieve a robust matching algorithm that associates 2D edges from the image with the 3D line segments...
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