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We study the problem of building a sensor model for the purpose of simulation. Our work is motivated by the potential impact of realistic simulators on the development cycle of software for real robots. The case is made for building models from approximate state information, relieving the burden of ground truth. Unlike calibration, where the goal is to identify and remove error from a signal, our...
Clinical evaluation during walker-assisted gait is the first step to assess the evolution of a patient during rehabilitation and to identify his needs and difficulties. Advances in robotics made it possible to integrate a gait analysis tool on a walker to enrich the existing rehabilitation tests with new sets of objective gait parameters. This paper focuses on the legs detection method to estimate...
Analog circuits that are calibrated using digital-to-analog converters (DACs) use a digital signal processor-based algorithm for real-time adaptation and programming of system parameters. In this paper, we first show that this conventional framework for adaptation yields suboptimal calibration properties because of artifacts introduced by quantization noise. We then propose a novel online stochastic...
The paper presents a novel approach for single object tracking across non-overlapping camera views, which searches for the optimal association of single view trajectories. We map the tracking problem to a tree structure and introduce a branch and bound approach to efficiently explore the search space. We use an optimization criterion based solely on the geometric cues coming from the calibration of...
Most methods for multiple camera tracking rely on accurate calibration to associate data from multiple cameras. However, it often is not easy to have an accurate calibration in some real applications due to practical reasons. The inaccurate calibration can lead to wrong data association of objects between cameras. In this paper, we propose a method to handle the data association of objects in multiple...
This paper presents a new approach to the problem of camera localization with non-overlapping camera views, particularly relevant for video surveillance systems. We show how to recast localization as quasi-convex optimization under the L-Infinity norm. Thereby we add the problem of reconstructing camera centers and 3D points for non-overlapping cameras with known internal parameters and known rotations...
This paper presents a new calibration method to overcome the challenges of MEMS inertial sensors for underwater navigation. The MEMS inertial sensor module is composed of an accelerometer, gyroscope and circuit of signal process. For navigation estimation, it is easy to be influenced by errors which come from MEMS inertial sensors. In general, the sources of error can be categorized into two groups,...
The pixel detector of the Compact Muon Solenoid (CMS) experiment consists of three barrel layers and two endcap disks at each side of the barrel section. The detector was installed in summer 2008, commissioned with the readout chip internal pulse generator, and used in cosmic ray trigger data taking in a 3.8 T magnetic field. Despite the excellent detector performance some problems arose after installation...
Calibration of camera networks is a well studied problem. However, most previous attempts assume all the cameras in the network to be synchronized which is especially difficult over large distances. In this paper we present a simple method to fully calibrate the asynchronized cameras of differing frame rates from the acquired video content directly. The presented methods either utilize content based...
In this paper we show that solar shadow trajectories can be used for a robust camera calibration. Expanding on the previous work on calibration from solar shadows, we relax the condition that the shadow casting object be visible in the image. This enables us to work with shadows of non-vertical objects as well. The important observation that we make in this work is that these shadow trajectories form...
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