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This paper proposes a novel scheme to improve localization accuracy of facial key points in facial illustrations. The proposed scheme estimates the location of facial key points considering global structure of facial key points evaluated by RANSAC like scheme where local evaluation is performed with SURF and color features. Experimental results using a data set composed of facial illustrations show...
In the movement management system of mobile robots, simultaneous detection of obstacles and creation of obstacles' map in the near field of the mobile robot are extremely urgent and complex tasks. In general, environment around robot is very complicated due to differences in change of lighting conditions and viewing angles. These problems lead to decrease accuracy of obstacles recognition. In this...
In this paper, we propose a method of generating 3D point clouds of terrain and cultural assets using the images acquired by ground and aerial photography. 3D point cloud data are made actually through the camera calibration process and image matching process. From 3D point cloud data, camera intrinsic and extrinsic parameters are calculated, and the point cloud data and the camera parameters are...
This paper proposes a method for rapid and continuous monitoring of slope deformation by using terrestrial optical photogrammetry. This slope monitoring method is non-contact and has a high speed to calculate the position and displacement of slope points, which can be applied to the continuous observation and disaster warning of the problem area of the slope. The theory of this method is to obtain...
In this paper, we propose a method to improve ego-motion estimation. In the proposed method, feature points from input binocular stereo image pairs are detected using the Speeded Up Robust Features method and descriptor vectors are generated for the features. Semi-Global Matching is then performed to ensure the quality and quantity of the matching features, which are used in conjunctions with camera...
Object recognition is one of the research areas which has always attracted the attention of the researchers and research community because of its varied application in automation, biometrics, medical diagnosis, surveillance and security systems, defence, Content-based Image Retrieval (CBIR), robotics and intelligent vehicle systems. Though a vigorous research is going on in this field but issues like...
We present a novel real time 3D Automatic Target Recognition algorithm appropriate for LIDAR based time critical applications. Its main contribution is the Constant False Alarm Rate adaptive threshold combined with the Projection Density Energy and the transformation of the 3D problem into multiple 2Ds. Our approach is invariant to 3D rotations combined with scale change, Gaussian noise and uniform...
RGB-D sensors provide RGB images along with pre-pixel depth information, the richness of their data and recent development of low-cost sensors have made them more popular in mobile robotics research. In this paper, we introduce a framework for real-time mapping in indoor environment by using a RGB-D sensor and present RGB-D mapping, a 3D mapping system that utilizes 3D point clouds available for RGB-D...
Facial expressions convey human emotions as a simple and effective non-verbal communication method. Motivated by this special characteristic, facial expression recognition rapidly gains attention in social computing fields, especially in Human Computer Interaction (HCI). Identifying the optimal set of facial emotion markers is an important technique that not only reduces the feature vector dimensionality,...
The biggest problem in the contactless biometry recognition system, whose popularity is increasing recently, is image distortion resulting from pose freedom (different angles and distances). In this study, a new approach is presented on the palm stance order to increase success on contactless palmprint verification systems. 3D palm is obtained through the stereo images received from the 2 cameras...
This paper presents a method of building 3D indoor maps using the Kinect (RGB-D cameras) in which a depth camera and a color camera are lined up. We first extract SURF (Sped Up Robust Features) from the input color images, and match the current features with the previous ones. The matched features are then transformed to 3D coordinate points data using depth information. The 3D points data sets of...
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