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This paper presents a new method for extracting planar features from noisy range data. The method encodes the local geometric information (surface normals) and global spatial information (coordinates) of 3D data points into an Enhanced Range Image (ERI) which is then clustered into a number of homogeneous groups, called Super Pixels (SPs). The Normalized Cuts (NC) method is employed to the graph built...
This paper describes a new approach to extract planar features from 3D range data captured by a range imaging sensor-the SwissRanger SR-3000. The focus of this work is to segment vertical and horizontal planes from range images of indoor environments. The method first enhances a range image by using the surface normal information. It then partitions the Normal Enhanced Range Images (NERI) into a number...
Although motion recovery for limited field-of-view (FOV) cameras has been studied for decades under the pin-hole projection, few attentions have been paid on omni-directional cameras. Omni-directional cameras are usually constituted complicatedly, especially some are made of several limited FOV cameras, and thus motion recovery for omni-directional cameras is more different. In this paper, an algorithm...
This paper deals with the problem of a camera calibration for a photogrammetry and computer vision purposes. Mathematic formulation of the 3D point representation in an external space and its transformation into 2D image space is exposed. The pinhole camera model is used for a problem simplification The camera calibration problem represents intrinsic and extrinsic parameters determination. The stereo...
In this paper, we present a novel framework to recover human body pose on multi camera systems. Our framework leverages 3D voxel data, which are reconstructed from multi-camera systems. The use of voxel data leads to viewpoint-free estimation, which benefits in that reconstruction of a training model is needless in different multi-camera arrangements. Other notable aspects of our approach are real-time...
A new approach to modelling and classification of human gait is proposed. Body movements are obtained using a sensor suit that records inertial signals that are subsequently modelled on a humanoid frame with 23 degrees of freedom (DOF). Measured signals include position, velocity, acceleration, orientation, angular velocity and angular acceleration. Using a range of concurrent features extracted from...
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