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Compared to standard color cameras, RGB-D cameras are designed to additionally provide the depth of imaged pixels which in turn results in a dense colored 3D point cloud representing the environment from a certain viewpoint. We present a real-time tracking method that performs motion estimation of a consumer RGB-D camera with respect to an unknown environment while at the same time reconstructing...
Compared to standard color cameras, RGB-D cameras are designed to additionally provide the depth of imaged pixels which in turn results in a dense colored 3D point cloud representing the environment from a certain viewpoint. We present a real-time tracking method that performs motion estimation of a consumer RGB-D camera with respect to an unknown environment while at the same time reconstructing...
This paper proposed the key technologies of the augmented reality (AR) system with image acquisition system and head-mounted displays are separately. The first stage is to detect features between two images using SIFT algorithm. A keypoint descriptor with 128 dimensional element features is created by first computing locations, scales and orientations of keypoint. Features are matched based on nearest...
We present a novel technique implementing barehanded interaction with virtual 3D content by employing a time-of-flight camera. The system improves on existing 3D multi-touch systems by working regardless of lighting conditions and supplying a working volume large enough for multiple users. Previous systems were limited either by environmental requirements, working volume, or computational resources...
Typically, vision-based AR systems operate on the basis of prior knowledge of the environment such as a square marker. One problem of traditional marker-based AR system has a limitation that the marker has to be located in the sensing range. Therefore, there have been considerable research efforts for the techniques known as real-time camera tracking, in which the system attempts to add unknown 3D...
Current markerless 3D registration methods usually utilize a single specified category of natural features. However, the richness of various natural features is ignored. They cannot meet users' diversified registration requirements. This article proposes an integration strategy of 3D registration methods based on multiple natural features. Utilizing feature detection and tracking and 3D registration...
A fast and automatic method is proposed to eliminate the vertical parallax in multiview images. The horizontal parallax provide the viewers stereoscopic feeling, but the vertical parallax causes the view discomfort in autostereoscopic display. To decrease the viewing discomfort, the elimination of vertical parallax is necessary. The complexity of traditional processing method is discussed, and the...
In this paper we present a novel system for real-time, six degree of freedom visual simultaneous localization and mapping using a stereo camera as the only sensor. The system makes extensive use of parallelism both on the graphics processor and through multiple CPU threads. Working together these threads achieve real-time feature tracking, visual odometry, loop detection and global map correction...
Vision based human articulated body pose tracking has been historically important. Because analyzing multiple human activities, especially interaction between human in cluttered scenes is essential in visual surveillance scenarios, multiple people tracking has enjoyed much attention in human robot interaction research in recent years. In this paper, we newly introduce a robust framework for multiple...
In this paper, we propose a context-aware authoring tool which users make virtual contents in-situ. In order to realize, three essential components are defined and some technical challenges are reviewed. We expect that the contents will be adaptive and responsible to dynamic environment. It will be applicable for many industries such as book publication, in-situ simulation and so on.
One of the main drawbacks of standard visual EKF-SLAM techniques is the assumption of a general camera motion model. Usually this motion model has been implemented in the literature as a constant linear and angular velocity model. Because of this, most approaches cannot deal with sudden camera movements, causing them to lose accurate camera pose and leading to a corrupted 3D scene map. In this work...
This paper deals with the real-time estimations of the rigid motion and three-dimensional structure of a scene from one or stereo moving camera. The method is based on an Extended Kalman Filter (EKF) that permits to obtain an executable real-time implementation. The extensions of an existent single camera solution and the new formulation of the stereo case is explained. Synthetic and real data experiments...
A new approach is proposed for a smart video surveillance system in this paper. The proposed surveillance system uses cononical stereo configuration to set up a pair of statical cameras to support a salient map to control a Pan-Tilt-Zoom(PTZ) camera/cameras, which captures high definition image /video of the interesting moving object in the surveillance area for further forensic investigations. The...
Aiming at overcoming the drawback of cruise missile for only using downward images to implement scene matching, presents a novel approach that gets the template image from the projection of 3D digital terrain at random viewpoints and random angles, which ensures the camera of missile can capture the images with desired angle. In scene matching, the SURF (Speed-up Robust Features) algorithm that based...
To analyze large amounts of numerical data, one of the most useful approaches is to use scientific visualization to transform them into graphical images. Flow visualization as one of the challenging topics has played important roles in oceanic data analysis. There are many techniques have been presented in the past decade, but most of them can't get high performance to visualize large-scale flow data...
In this paper we present a real-time simultaneous localization and mapping system which uses a stereo camera as its only input. We combine the benefits of KLT feature tracking, which include high speed and robustness to repetitive features, with wide baseline features, which allow for feature matching after large camera motions. Updating the map of feature locations and camera poses is considerably...
In this paper, we propose a system to recognize alphabet characters (A-Z) and numbers (0-9) in real-time from stereo color image sequences using Hidden Markov Models (HMMs). Additionally, a robust method for hand tracking in a complex environment using Mean-shift analysis in conjunction with 3D depth map is introduced. The depth information solve the overlapping problem between hands and face, which...
This paper presents a real-time face detection algorithm. It improves state-of-the-art 2D object detection techniques by additionally evaluating a disparity map, which is estimated for the face region using a calibrated stereo camera setup. First, faces are detected in the 2D images with a rapid object classifier based on haar-like features. In a second step, falsely detected faces are removed by...
Vision systems are nowadays very promising for many on-board vehicles perception functionalities, like obstacles detection/recognition and ego-localization. In this paper, we present a 3D visual odometric method that uses a stereo-vision system to estimate the 3D ego-motion of a vehicle in outdoor road conditions. In order to run in real-time, the studied technique is sparse meaning that it makes...
In many cases, visual tracking is based on detecting, describing, and then matching local features. A variety of algorithms for these steps have been proposed and used in tracking systems, leading to an increased need for independent comparisons. However, existing evaluations are geared towards object recognition and image retrieval, and their results have limited validity for real-time visual tracking...
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