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Existing approaches to object detection address the generation of object hypotheses by extracting several cues in natural and automotive images, relying on objects with sufficiently high resolution. Very little to almost no approaches, however, address the generation of hypothesis of very small or distant objects in images such as on motorways. Here, we propose a simple yet effective approach to generating...
Japan Agency for Marine Earth Science and Technology (JAMSTEC) has started a new project “submarine resource research project” in April 2011. We decided to advance the development of work class ROV “KAIKO Mk-IV” as fourth KAIKO's vehicle applied for submarine resource exploration. “KAIKO Mk-IV” construction started in April 2011 and it completed in March 2013. Then, its sea trials have been carried...
This paper presents an overview of the Ranger localization system and its constituent technologies and algorithms. Ranger is a high-precision localization system for ground vehicles that performs map-based localization using a ground-facing camera. Ranger uses commercially available hardware, including a camera, lights, and a computer, in combination with auxiliary localization sensors and a custom...
Fisheye cameras are widely adopted in the back view camera of vehicles and the surveillance camera. Compared to the normal digital cameras, their resolution and image quality are low. In this paper, we propose a method to restore the high resolution images from the fisheye camera by the reconstructed type of super resolution. First, we undistort the fisheye images and regularize these images. Then...
In this paper, we present an information registration method for an Augmented Reality Head-Up Display (AR-HUD) system. The AR-HUD system superimposes driving assistance warnings and instructions that correctly match the real world according to the driver's view. AR information registration is a necessary procedure prior to the presentation of these warnings and instructions. This need is important...
This paper proposes a method to detect the lanes from the aerial videos, which is composed of two parts: image pre-processing and the lane detection. The first part, image pre-processing, mainly includes down-sampling, image binarizing and lane edge getting, and then a low resolution binary image will be gotten. The second part consists of the line parameter getting based on Hough Transform, false...
We describe a system for content-based retrieval from large surveillance video archives, using behavior, action and appearance of objects. Objects are detected, tracked, and classified into broad categories. Their behavior and appearance are characterized by action detectors and descriptors, which are indexed in an archive. Queries can be posed as video exemplars, and the results can be refined through...
Methods for using underwater vehicles for mapping and monitoring are developed continuously. These methods developed must be accurate, quantitative and repeatable while being as cost effective as possible. In 2011, 2012, 2013 and 2014 The Norwegian University of Science and Technology (NTNU) Applied Underwater Robotics Laboratory completed surveys in the Trondheim Fjord area. During these surveys...
This paper is concerned with large-scale localisation at city scales with monocular cameras. Our primary motivation lies with the development of autonomous road vehicles - an application domain in which low-cost sensing is particularly important. Here we present a method for localising against a textured 3-dimensional prior mesh using a monocular camera. We first present a system for generating and...
This work addresses the problem of extracting semantics associated with multiple, cooperatively managed motion imagery sensors to support indexing and search of large imagery collections. The extracted semantics relate to the motion and identity of vehicles within a scene, viewed from aircraft and the ground. Semantic extraction required three steps: Video Moving Target Indication (VMTI), imagery...
Stereo vision has been used in many different applications such as robot, entertainment, and electronics for car. Computation of the disparity map requires a large amount of computational resources because of high block-matching computations, especially on the high-resolution image pair. In this paper, we proposed an algorithm for computing the disparity map of a full HD image pair from left and right...
This paper will show how AUV and ROV can complement each other in a scientific mapping campaign in the Trondheim Fjord. To complete this survey, a multidisciplinary approach was necessary to adapt the industrial and military technology to identify and map object of interest (OOI) on the seafloor. NTNU AUR-Lab and FFI mobilized for a collaborative cruise with ROV Minerva equipped with: video camera,...
Recently, computer vision technology has been widely adopted for the safety technology of automobiles. In conventional methods, research on the recognition of obstacles of similar height has advanced, such as the recognition of pedestrians or nearby vehicles. However, we must also help drivers recognize the height of obstacles that the vehicles cannot drive over, such as parking lot sprags and curbstones...
Vehicle inspection at ports of entry is a critical component of border security. One part of the vehicle screening process involves customs and border protection (CBP) personnel performing a preliminary inspection of the underside of random vehicles by looking under the vehicle through a mirror mounted on a stick, searching for anomalies or foreign objects present on the undercarriage structure and...
The discrete nature of disparities observed by stereo systems results in complex behaviour of speeds measured by them and affects the efficacy of a stereo based driver assistance system. We describe a tool for a safety engineer which permits the safety of these systems to be estimated. It is based on a model which considers the true error in measured velocities of objects. Outputs from this tool show...
In this paper, we seek to expand the use of direct methods in real-time applications by proposing a vision-based strategy for pose estimation of aerial vehicles. The vast majority of approaches make use of features to estimate motion. Conversely, the strategy we propose is based on a MR (Multi-Resolution) implementation of an image registration technique (Inverse Compositional Image Alignment ICIA)...
In Japan, many CCTVs (Closed Circuit Television) have been operational in many places such as convenience stores, apartment houses, monetary facilities, parking lots for bicycles, railway stations and at vending machines, which were installed by companies or individuals in a voluntary manner in order to prevent crimes (Figure 1). On August 19 2009, the Nihon Keizai Shimbun, that is one of the newspapers...
Obstacle detection by means of stereo-vision is a fundamental task in computer vision, which has spurred a lot of research over the years, especially in the field of vehicular robotics. The information provided by this class of algorithms is used both in driving assistance systems and in autonomous vehicles, so the quality of the results and the processing times become critical, as detection failures...
This paper presents a modular approach for a high resolution monocular camera based system to detect, track, and display potential obstacles and navigational threats to soldiers and operators for manned and unmanned ground vehicles. This approach enhances situational awareness by integrating obstacle detection and motion tracking algorithms with virtual pan-zoom-tilt (VPZT) techniques, enabling soldiers...
Modern real-time dense stereo vision provides precise depth information for nearly every pixel of an image, indicating stereo cameras as a key sensor for future vehicle safety systems. Efficient analysis of this large amount of data by different tasks running in parallel asks for a medium level representation that decouples application specific analysis from low-level vision. Recently, the so called...
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