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We present our design of a real-time vision-based landing pad detection and pose estimation for many Unmanned Aerial Vehicles(UAV) and implementation on Raspberry Pi. We describe the vision algorithm for precise landing pad detection and recognition and estimate the position and orientation of the UAV relative to the landing pad. The vision algorithm is robust, accurate, and computationally inexpensive...
In practical CCTV applications, there are problems of the camera with low resolution, camera fields of view, and lighting environments. These could degrade the image quality and it is difficult to extract useful information for further processing. Super-resolution techniques have been proposed widely by the researchers. However, many approaches are complex and are difficult to use in practical scenarios...
Behavior or human action recognition is one hot research topic in real-time video surveillance system. Dangerous accidents consist of dangerous actions by one or more persons. Thus, action recognition is very important for dangerous accident recognition. If videos captured by public cameras especially dangerous actions related videos can be processed and analyzed immediately to provide an early and...
In order to obtain real-time accurate detection of smoke in the panoramic area, a visual-based smoke early warning system is designed. A 180-degree holographic and high speed camera is equipped as the video capture part of the system, and the video acquisition and target lock functions are implemented. The intelligent recognition function is separated into three steps. Firstly, the suspected smoke...
Image stitching is an attractive method to merging multiple images. It can produce a wide-angle panoramic photograph while maintaining the quality of the source images. The process is simply performed by overlapping part of the images which contain common scene. Today, panoramic image stitching is widely used in applications such as 360-degree cameras and virtual reality photography. If the stitching...
In this work, we present a solution to real-time monocular dense mapping. A tightly-coupled visual-inertial localization module is designed to provide metric and high-accuracy odometry. A motion stereo algorithm is proposed to take the video input from one camera to produce local depth measurements with semi-global regularization. The local measurements are then integrated into a global map for noise...
Family security is one of the key goals of a digital home system. At present, webcams are widely used in home remote monitoring systems. This is due to the fact that its passive monitoring nature leaves a potential security problem and cannot be used for providing proactive security. To solve this problem, this paper proposes the design of a remote embedded intelligent security monitoring system based...
In this work, an autonomous surveillance system providing ultra wide angle (UWA) video information is presented using multi-UAV platform. Towards this end, a fleet of UAVs are initially deployed into appropriate formation (such as triangle, diamond, or line) with cameras pointing outwards to cover the region of interest (ROI). In aid of image processing technique, the UAVs formation will be further...
This study presents a vision-based approach for fingertip tracking on multi-touch tabletop which combines infrared and depth image processing. This approach intends to tackle two main issues on tabletop interaction: improve the performance for real-time applications and increase fingertip detection accuracy. A prototype using this fingertip tracking method was implemented with a depth and infrared...
Stereo vision is an emerging technique requiring high quality depth computation in variety of applications in embedded and real-time systems. This system proposes implementation of cost computation information for stereo image pairs. High resolution disparity maps are needed to provide good image quality on auto stereoscopic displays that delivers stereo content without the need of 3-D glasses. Stereo...
The Intelligent Tasker was developed to provide dynamic retasking of autonomous coordinated aerial assets to accommodate “pop-up” points of interest and the loss of a team member during a coordinated mission. The system was implemented in MATLAB and can be integrated with various ground stations. The user interface and backend GA Optimizer make planning and executing an optimized coordinated mission...
This paper designs a kind of LED markers as well as the counterpart recognition algorithm for calibrating cameras in need for the rapid deployment for WMSN. Firstly, the implementation of WMSN calibration process is introduced. Afterwards, by analyzing the defects of algorithms using feature extraction for recognition, a simpler two-dimensional marker recognition method is designed. The recognition...
Diminished reality (DR) aims at removing objects auto-matically in live video streams, in a way which is unrecognizable to human observers. Approaches working on mobile devices utilize image inpainting algorithms to fill the holes (target region) of the removed objects in a plausible way. We propose a new DR algorithm, which extracts a scene model from a sparse point cloud of a mono SLAM algorithm...
It requires a great deal of computation to compute real-time depth information through imaging technology. It would not meet the needs of real-time computing if software computations only performed by ARM embedded processor collocated with Embedded Linux operating system. This paper uses SoC FPGA from Altera Cyclone V series for the real-time Stereo Vision Capturing System. Through the integration...
Simultaneous localization and mapping (SLAM) is a key algorithm in localization tasks. Considering the limited payload and power on mobile robots, FPGA-based SLAM is a promising onboard solution. This paper presents an FPGA-based SLAM system, which can recover the indoor moving trajectory of the stereo cameras in real-time. We propose a low computational complexity VO-SLAM (Visual Odometry based SLAM)...
As people counting is becoming a research hotspot, a method for people counting based on multiple cameras information fusion is proposed. First, an adaptive sliding window algorithm is designed for people counting in single camera. Second, based on the homography theory, the common area between multiple cameras is calculated. Finally, the object matching strategy considering the factor of occlusion,...
We present an agile framework for automated tracking of moving objects in full motion video (FMV). The framework is robust, being able to track multiple foreground objects of different types (e.g., Person, vehicle) having disparate motion characteristics (like speed, uniformity) simultaneously in real time under changing lighting conditions, background, and disparate dynamics of the camera. It is...
Over the last decades, several studies have demonstrated the reflectance effectiveness of middle wave infrared (MWIR) for discriminating among different types of vegetation, and estimating the total and leaf biomass of several forest ecosystems. Therefore, a MWIR aerial image capturing system for vegetation observation is urgently required. Furthermore, stitching those MWIR aerial images together...
This paper presents an efficient image stitching algorithm with better image quality and less processing time for stitching a continuous image sequence. In the beginning, the blurred image frame is filtered out by considering the variation of its edge amount under different scales. Stitching a lot of frames with similar scene is time-consuming and easily generates the inconsistency in the overlap...
Nowadays, image enhancement, image restoration and dehazing had made a great progress. This paper addresses the problem of dehazing which is a serious question in computer vision and consumer photography applications. Due to the weakness of the existing methods to compute an accurate transmission map, we use the binocular vision method to compute the depth map. We have used in this paper, the discrepancy...
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