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Time-of-flight range sensors have error characteristics, which are complementary to passive stereo. They provide real-time depth estimates in conditions where passive stereo does not work well, such as on white walls. In contrast, these sensors are noisy and often perform poorly on the textured scenes where stereo excels. We explore their complementary characteristics and introduce a method for combining...
In order to obtain depth perception in computer vision, it is needed to process pairs of stereo images. This process is computationally challenging to be carried out in real-time, because it requires the search for matches between objects in both images. Such process is significantly simplified if the images are rectified. Stereo image rectification involves a matrix transformation which when done...
Real-time stereo vision systems have many applications - from autonomous navigation for vehicles through surveillance to materials handling. Accurate scene interpretation depends on an ability to process high resolution images in real-time, but, although the calculations for stereo matching are basically simple, a practical system needs to evaluate at least 109 disparities every second - beyond the...
In this paper, a stereo framework for a robust real time localization of objects using networkpsilas camera pairs is presented. The stereo system contains a combination of static and pan-tilt-zoom (PTZ) cameras instead of traditional dual head mounted cameras. The proposed novelty consists in applying stereo vision to heterogeneous cameras belonging to a video-surveillance network. First, a look-up-table...
Duplicating the full dynamic capabilities of the human eye-brain combination is a difficult task but an important goal because of the wide application for a system which can acquire accurate 3D models of a scene in real time. Such a system must be able to correct images to remove lens distortion and camera misalignments from high resolution images at video frame rates 30 fps or better. The images...
An image processing system that would match the capabilities of the human eye and brain combination will probably elude us for many years, but, by observing all the lessons that millions of years of evolution taught, we can produce systems which, for specific applications can approach human capabilities. This paper describes our intelligent vision processor project which couples a pair of optical...
In this paper, we propose a fast and stable pedestrian recognition approach using the features from both stereo vision and HOG (Histogram of Oriented Gradient) filter. It inquires the histogram of disparity from the stereo images and builds a mask image to extract the features from foreground regions exclusively. HOG and PCA (Principal Component Analysis) are then applied to the foreground edge image...
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...
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