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This paper introduces a mapping device capable of recording seafloor photos from altitudes of up to 8m, which can be used to build colour 3D reconstructions. Data recorded at sea are shown and the results after processing with two different methods for 3D reconstruction are introduced and compared.
The underwater 3D reconstruction cartography has made great progress in the last decade. The work presented in this paper is about the analysis and 3D reconstruction of archeological objects. Using a calibrated single camera and an uncalibrated system, we propose to describe a method to perform the Euclidian 3D reconstruction of unknown objects. A comparison of two methods is presented and tested...
These days, a large number of human-computer interactive systems have been developed. This paper proposes a visualization system of reconstructed three-dimensional (3-D) scene, which is based on user-interactive control using the Kinect sensor and a webcam. First, we acquire depth and color images from a number of viewpoints, from which 3-D reconstruction of a scene is performed. We pre-process the...
The work presented in this paper deals with the poor performance of depth image generation given by Tyzx stereo vision system under different lighting conditions in both indoor and outdoor environments. For that aim, we introduce a fitting plane algorithm to correct distance information as well as fulfill the missing points in the original depth. First, the color image is over-segmented into many...
In this paper, we proposed a three dimensional interactive video system based on the DTHI(Dynamic Tracking of Historical Images) technology, the main part of the algorithm focus on gesture recognition and control instruction which could be simulated with three-dimensional images database. We use web cam to capture the video sequence of user, after that a series of image processing will be applied...
In this paper, we discuss the RoboCup@Home league as a benchmark for service robot systems in everyday environments. The competition requires skills in mobile manipulation and human-robot interaction. Specifically, we detail the contributions of our team NimbRo, which won the RoboCup@Home competition in 2011. We demonstrated novel capabilities in the league such as real-time table-top segmentation,...
Extensive research has been conducted relating the natural scene statistics of luminance and depth; however, very little work has been done on analyzing the statistical relationships between depth and chromatic information. In this paper, we examine and derive statistical models between disparity and both luminance and chrominance information by transforming natural images into the more perceptually...
We present a mobile robot whose goal is to autonomously explore an unknown indoor environment and to build a semantic map containing high-level information similar to those extracted by humans. This information includes the rooms, their connectivity, the objects they contain and the material of the walls and ground. This robot was developed in order to participate in a French exploration and mapping...
In this study, FPGA implementation of an algorithm for reducing color differences between left and right images, stemming from 3D video capturing problems such as different physical specifications, adjustments, and view angle of cameras capturing left and right video, and different direction of motion and are presented. Such problems that cannot be resolved during 3D video capturing, should be resolved...
Reliable object recognition is a mandatory prerequisite for service robots that operate in everyday environments. Typical approaches run a single classifier for the purpose of object recognition. However, no single algorithm proved to classify across all types of objects. We propose an approach that combines the recognition result of several methods working on different features. This reduces the...
The aim of this work is to provide current oil and gas industries with a method to determine the placement of visual detectors for processing plant such as petrochemical plant. Nowadays industries practices are replacing conventional IR and UV detector with more advanced visual fire detector, which are less prone to false alarm, and having similar properties as CCTV camera. Development of the proposed...
Augmented Reality (AR) combines real world and virtual objects which can be 3D images previously saved or real time computer generated. It enhances a user's view of the real environment by adding virtual objects in a realistic manner. Virtual objects display information that the user cannot directly detect with his senses. So, to look realistic, the virtual objects must be properly aligned with real-world...
Unseen visible watermarking (UVW) is a novel data hiding scheme that imitates real-world watermarks and maintains advantages of both visible and invisible watermarking. One important feature of UVW is that specific extraction module is not required during watermarking decoding. The UVW for 2D image is studied based on imaging functions, e.g. gamma-correction in LCD monitors. On the other hand, due...
Creating entertaining and educational books not only requires providing visually stimulating content but also means for students to interact, create, and express themselves. In this paper we present a new type of mixed-reality book experience, which augments an educational coloring book with user-generated three dimensional content. We explore a “pop-up book” metaphor and describe a process by which...
We present a room-sized telepresence system for informal gatherings rather than conventional meetings. Unlike conventional systems which constrain participants to sit in fixed positions, our system aims to facilitate casual conversations between people in two sites. The system consists of a wall of large flat displays at each of the two sites, showing a panorama of the remote scene, constructed from...
A 1.5Mpixel RGBZ image sensor that simultaneously captures color (RGB) and time-of-flight (ToF) range (Z) images is presented. While ToF sensors are well documented [1,2], few, if any, monolithic sensors have been reported that capture both range and color. In one sensor [3], a combined pixel structure captures color and range, but presumably in sequential fields. This approach does not allow simultaneous...
Real-time capturing of a color image and depth map from an arbitrary scene is very crucial in various applications such as robotics, automotive, augmented reality, and interactive gaming, because it enables electronic devices to recognize and track target objects without complicated post-processing. Numerous color image sensors have been developed, pushing small-size and high-sensitivity pixels [1,2];...
We propose a novel algorithm to generate a virtual-view video from a video-plus-depth sequence. The proposed method enforces the spatial and temporal consistency in the disocclusion regions by formulating the problem as an energy minimization problem in a Markov random field (MRF) framework. In the system level, we first recover the depth images and the motion vector maps after the image warping with...
This paper presents an illumination-free photometric metric for evaluating the goodness of a rigid transformation aligning two overlapping range images, under the assumption of Lambertian surface. Our metric is based on photometric re-projection error but not on feature detection and matching. We synthesize the color of one image using albedo of the other image to compute the photometric re-projection...
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