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Addressing the image correspondence problem by feature matching is a central part of computer vision and 3D inference from images. Consequently, there is a substantial amount of work on evaluating feature detection and feature description methodology. However, the performance of the feature matching is an interplay of both detector and descriptor methodology. Our main contribution is to evaluate the...
We presented an application of SURF operator and epipolar constraint for stereo matching of binocular citrus images. First, R-B space images were achieved by linear transform of original images' color space. Second, fast Hessian-matrix detector was used to detect the interest points and the SURF descriptor was used to describe the points' features. Finally, Euclidean distance and the epipolar constraint...
This paper presents a method of binocular vision obstacle detection based on SIFT feature matching algorithm. First, a model of depth measurement based on stereo vision is built, it does not require resume the three-dimensional coordinate of spatial point under the world coordinate system. According to the characteristics of the model, we proposed the binocular stereo vision calibration method based...
In this paper, to provide a robot with information relative to structure of its environment, we propose a method to recognize types of structural corridor landmarks such as T-junction, L-junction, end of the corridor, using vanishing points-based visual image features and hidden Markov models. Several experimental results are illustrated to demonstrate the validity of the proposed approach in a real...
As long as visual features for recognition are known in advance and remain static due to a controlled environment, object tracking is state-of-the-art. Tracking objects in dynamically changing environments is still a challenge. Even harder is the tracking of moving objects with a moving camera. Our algorithm realizes a deterministic approach to track any 2D-features representable in a general way...
In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building...
In order to estimate landmark direction angle to localize robot in an artificial environment based on omnidirectional image, this paper introduces the method about low pass filter noise elimination, artificial landmark features detection and landmark direction angle estimation algorithms. Landmark feature detection proposed that red landmark pixels beyond the threshold were extracted as a small area...
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...
Motion blur is a severe problem in images grabbed by legged robots and, in particular, by small humanoid robots. Standard feature extraction and tracking approaches typically fail when applied to sequences of images strongly affected by motion blur. In this paper, we propose a new feature detection and tracking scheme that is robust even to non-uniform motion blur. Furthermore, we developed a framework...
Separating sparse flow provides fast and robust stereo visual odometry that deals with nearly degenerate situations that often arise in practical applications.We make use of the fact that in outdoor situations different constraints are provided by close and far structure, where the notion of close depends on the vehicle speed. The motion of distant features determines the rotational component that...
In many societies, the aged people are often living alone. For the aging population, surveillance in household environments has become more and more important. In this paper, we present a household surveillance robot that can detect abnormal events by utilizing video and audio information. In our approach, moving targets can be detected by the robot with a passive acoustic location device. Then the...
We present an image-based visual servoing controller enabling nonholonomic mobile robots with a fixed pinhole camera to reach and follow a continuous path on the ground. The controller utilizes only a small set of features extracted from the image plane, without using the complete geometric representation of the path. A Lyapunov-based stability analysis is carried out. The performance of the controller...
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...
We present a visual servoing scheme enabling non-holonomic mobile robots with a fixed pinhole camera to reach and follow a continuous path on the ground. The controller utilizes only a small set of features extracted from the image plane, without using the complete geometric representation of the path. The scheme is position-based, and a Lyapunov-based stability analysis is carried out. The performance...
Current approaches to feature detection and matching in images strive to increase the repeatability of the detector and minimize the degree of outliers in the matching. In this paper we present a new approach; we suggest that a lower performance feature detector can produce a result more than adequate for robot navigation irrespectively of the amount of outliers. By using an FPGA together with two...
The location of welding initial position is the main problem to realize automatic welding in the process of container reinforced plate welding. According to the characteristic of container reinforced plate, the location system for reinforced plate welding is designed, which is based on the structured light. This system consists of two lasers and one camera, which is easier for image processing with...
3D imaging systems provide valuable information for autonomous robot navigation based on landmark detection in pipelines. This paper presents a method for using a time-of-flight (TOF) camera for detection and tracking of pipeline features such as junctions, bends and obstacles. Feature extraction is done by fitting a cylinder to images of the pipeline. Data in captured images appear to take a conic...
Doors are important landmarks for indoor mobile robot navigation. Most existing algorithms for door detection use range sensors or work in limited environments because of restricted assumptions about color, pose, or lighting. We present a vision-based door detection algorithm that achieves robustness by utilizing a variety of features, including color, texture, and intensity edges. We introduce two...
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