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Reinforcement learning is a powerful tool for teaching robotic agents to perform tasks in real environments. Visual information provided by a camera could be a cheap and rich source of information about an agent's surroundings, if this information were represented in a compact and generalizable form. We turn to cellular neural networks as the means of transforming visual input to a representation...
This paper presents a critique on previous work in the field of vision aided navigation, particularly in the fusion of visual and inertial sensors for navigation. Several improvements and updates are proposed for the existent systems. GPS receivers have allowed for accurate navigation for many vehicles and robotic platforms. GPS based navigation can, however, prove to be impractical in applications...
We present a method for reconstruction of the visual hull (VH) of an object in real-time from multiple video streams. A state of the art polyhedral reconstruction algorithm is accelerated by implementing it for parallel execution on a multi-core graphics processor (GPU). The time taken to reconstruct the VH is measured for both the accelerated and non-accelerated implementations of the algorithm,...
In this paper we present an improved automatic visual inspection system. In this system, homography based visual servo is used to accurately locate the camera position and attitude so that a template matching inspection can be realized. To improve the visual servo system's performance, we propose a combination strategy of a GPU based Efficient Second-order Minimization (GPU-ESM) algorithm and a GPU...
Volumetric visual hull reconstruction is easy to be implemented without complicated geometrical computation, but its accuracy and efficiency are still unsatisfactory. An optimized volumetric visual hull reconstruction method is proposed based on CUDA. The voxel intersection judgment procedure and the isosurface extraction procedure are parallelized and implemented using multiple threads of CUDA to...
This paper presents a method for implementing the ESM visual tracker proposed by Malis et al. on a GPU to realize fast and accurate visual tracking. The ESM tracker is effective especially for the images in which feature points are difficult to obtain, since it uses entire image pixels of the target image region. Although its ordinary CPU implementation runs fairly fast, our GPU implementation enables...
The research effort at Microsoft research on multimodal collaboration and human-computer interaction aims at developing tools that allow people across geographically distributed sites to interact collaboratively with immersive experience. Our prototype systems consist of cameras, displays, speakers, microphones, computer controllable lights, and/or input devices such as touch sensitive surface, stylus,...
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