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Segmentation of moving objects in a scene is difficult for non-stationary cameras, and especially challenging in the presence of fast and unstable egomotion, e.g., as encountered with car-mounted cameras or wearable devices. Based on an analysis of motion vanishing points of the scene and estimated depth, a geometric model that relates extracted 2D motion to a 3D motion field relative to the camera...
This paper presents a novel method for detecting motion regions in image sequences obtained by rapidly moving cameras in fully 3-D scenes. The proposed method mainly focuses on the situations that the backgrounds of the image sequences change rapidly. It has three innovations over existing methods: First, it presents a new initialization method to fast and sparsely gather information of the background...
We consider the problem of enabling a robot to autonomously open doors, including novel ones that the robot has not previously seen. Given the large variation in the appearances and locations of doors and door handles, this is a challenging perception and control problem; but this capability will significantly enlarge the range of environments that our robots can autonomously navigate through. In...
This paper describes a framework which uses augmented reality for evaluating the performance of mobile computer vision systems. Computer vision systems use primarily image data to interpret the surrounding world, e.g to detect, classify and track objects. The performance of mobile computer vision systems acting in unknown environments is inherently difficult to evaluate since, often, obtaining ground...
In the past few years, lots of works were achieved on Simultaneous Localization and Mapping (SLAM). It is now possible to follow in real time the trajectory of a moving camera in an unknown environment. However, current SLAM methods are still prone to drift errors, which prevent their use in large-scale applications. In this paper, we propose a solution to reduce those errors a posteriori. Our solution...
This paper proposes a method to generate a player's view video of an actual soccer match using a 3D free-viewpoint video technique. Users can enjoy 3D video simply by choosing a target player and concentrating on a soccer match from the player's view by manually controlling the viewing position. The generated video provides an immersive sight as if the user is running on the pitch. To generate the...
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