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Passive stereo vision is widely used as a range sensing technology in robots, but suffers from dropouts: areas of low texture where stereo matching fails. By supplementing a stereo system with a strong texture projector, dropouts can be eliminated or reduced. This paper develops a practical stereo projector system, first by finding good patterns to project in the ideal case, then by analyzing the...
This paper presents results from experiments on visual stereo matching for robot navigation. Visual features are stereo paired with respect to their pixel position. Stereo triangulating all paired visual features results in a set of landmarks whereof a subset are true landmarks. Constraining the horizontal disparity limits the amount of spurious matches. The stereo matching is validated by finding...
In this paper, we present a system for pedestrian detection involving scenes captured by mobile bus surveillance cameras in busy city streets. Our approach integrates scene localization, foreground and background separation, and pedestrian detection modules into a unified detection framework. The scene localization module performs a two stage clustering of the video data. In the first stage, SIFT...
This paper proposes the video object segmentation using block-matching-based self-organization maps and a kernel function. A window covering a target object in a frame is split into units with some pixels. A vector with two elements is provided a unit to quantify its color attributes, and is presented to train a map. It is also presented to classify the units. The trained map then judges the class...
The tasks of autonomous rescue robots operating in unknown environments are manifold. Self localization, map generation and the detection of possible victims are indespensable. Apart from these, other factors can become crucial for the survival of the involved persons and for the safe operation of the robot itself. A first step in autonomously detecting such dangers is the real-time recognition of...
Ray-space interpolation is one of the key technologies to make ray-space based FTV (Free Viewpoint Television) system feasible. Since ray-space data is composed of straight lines with different slopes, the problem in ray-space interpolation is to find the slope of the straight lines which tells us the interpolation direction. In this paper, a radon based ray-space interpolation algorithm is proposed...
Previously, authors proposed a method for taking the appropriate images of written area on the blackboard. In the method, the blackboard is segmentalized into several areas and template matching method is used to acquire the high-resolution images of the written area. It is however, difficult to acquire appropriate rules or search areas for template matching method. This makes decision of template...
A stereoscopic catadioptric sensor and associated algorithms are presented to provide a relevant solution to the problem of 3D reconstruction of unknown environments. A novel calibration methodology is detailed, establishing a discrete relation between 3D points and the corresponding pixels. The 3D reconstruction adopted is an adaptation of the classic volumetric scene reconstruction technique. Complete...
Discovering depth from stereopsis is difficult because the quality of un-cooled sensors is not sufficient for generating dense depth maps. We show how to produce sparse disparity maps from uncalibrated infrared stereo images which can be interpolated to produce a dense/semi-dense depth field. In our proposed technique, the sparse disparity map is produced by a robust features-based stereo matching...
In this paper, we propose a facial direction estimating system from low resolution facial images captured by surveillance camera. The proposed system first detects pedestrians by background subtraction, then trimming head area by template matching and finally estimating facial direction by using support vector machine (SVM). Experimental results show that, when we use 8times9 pixels facial images...
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