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The space robotic system is expected to perform the on orbit servicing mission. It is a challenging task to estimate the pose of the non-cooperative spacecraft (no facilities are mounted onboard for relative pose measurement) during the phase of closing, capturing, and maintenance. In addition, the spacecraft with a high value is always very large, which pose difficulties for the cameras to photo...
This paper proposes a method of rotation estimation of a fast spinning marker-less golf ball, which rotates up to 60 degrees in a 1-millisecond frame, from two consecutive frames of an infrared video sequence. The proposed method solely relies on the dimple pattern, which has slight irregularity in its configuration providing a clue for alignment, and does not need help of logo marks or fiducial markers...
This paper proposed a new pedestrian detection method with depth information based on Histogram of Oriented Gradient and Support Vector Machin. According to the principle of perspective, use the different classifier with different scale in different position of the image to reduce the detection time. At the same time, Adding the Hard Examples to negative sample to decrease the false positive rate...
In this paper, we propose a semi-global matching method based on image segmentation. We perform a k-means clustering algorithm in only left image as image segmentation. Then, to improve result of image segmentation, we integrate adjacent and small labels along edges of objects. After that, we extract feature points to estimate the disparity range in each label, and add weights to the disparity range...
Video summarization is the process to extract informative events of a video and represent in the condensed form. The paper proposes a new method for extracting important contents of a video for summarization using geometric primitives, such as line segments, angles, and conic parts. The primitives have the capabilities to represent complex shapes and structures of objects in a video frame. Therefore,...
In this paper, a panoramic image stitching algorithm is presented. The aim of image stitching is to detect several images of the same scene and merge them to create a larger image. This is achieved by first detecting the overlapping area of the acquired images, and then aligning and blending the seams of the images automatically to create a seamless panoramic image. The experimental testing into the...
The subject of this paper is a particularly challenging machine vision (MV) based sorting application where the ‘part’ is an Indian coin. The application is challenging in part because of the lack of distinctive features to differentiate between denominations as well as the variability in the features for a given denomination. Although there are coin recognition algorithms documented in the literature,...
This paper describes a real-time method for building 3D feature models of an object of interest, e.g. a vehicle. The model generation works unsupervised and consists of four recursive steps. The first two steps identify the object of interest and extract the object-related sensor data. In the third and fourth step, prominent features are detected and integrated into a common 3D feature model. This...
Robotic assistants have the potential to greatly improve our quality of life by supporting us in our daily activities. A service robot acting autonomously in an indoor environment is faced with very complex tasks. Consider the problem of pouring a liquid into a cup, the robot should first determine if the cup is empty or partially filled. RGB-D cameras provide noisy depth measurements which depend...
Video Surveillance is very important and essential task for security applications. Earlier surveillance was like capturing a video from camera, storing the information in a database, and then required contents were accessed manually from the database. It may lead to loss of sensitive information in real time. In such cases automated video surveillance is very essential. In automated video surveillance,...
The goal of region proposal approaches is to decrease the hunting zone for classifiers. An innovative objectness measure that combines several characteristics of proposals in a Bayesian framework is explicitly presented in this paper. We try to use Bayesian to respectively integrate four different features of proposals, and employ the posterior probability of positive samples as new score to guide...
Data centers are extremely important facilities that contain core business information and applications, but the energy consumption is an inevitable issue, so the thermal distribution monitoring is critical for data centers reliable and stable operation. Thermal information enables monitoring and autonomic thermal management in large data centers. Recent approaches that employed a mobile robot or...
This paper presents an extrinsic calibration method of a camera and a laser range finder based on the automatic detection of the line feature. Firstly, a special 3D calibration target which contained four planes and five edges was projected, and then the visible image and laser data of the 3D calibration target could be obtained. Secondly, the automatic detection method of the line feature was presented,...
In this study, we propose a method to extract features for graph SLAM using an upward-looking camera mounted in an automated guided vehicle (AGV) in a factory environment. To this end, a novel feature detector and descriptor GALS (geometrical arrangement based on lamps and SURF) is proposed in this study. This algorithm consists of two parts: 1) geometrical arrangement of SURF features around a lamp...
We introduce the Dual-aperture (DA) system which is a novel camera based on depth from defocus (DFD). However, conventional method for DA system has an object color dependency problem, which comes from color transition region between objects or textures in an object. This problem is very important because it results in errors in depth map. For this reason, we propose a 2-step process to obtain the...
We propose an integer programming method for estimating the instantaneous count of pedestrians crossing a line of interest (LOI) in a video sequence. Through a line sampling process, the video is first converted into a temporal slice image. Next, the number of people is estimated in a set of overlapping sliding windows on the temporal slice image, using a regression function that maps from local features...
We extract 3D curb from video sequence, using a single camera equipped with fish-eye lens and located at the front/rear of the vehicle. The challenge in extracting curbs from images lies in their small size and their lack of texture. We show that by appropriately exploiting appearance features, 3D geometry, and temporal information, one can reliably detect and localize the curbs in the 3D scene. The...
An adaptive threshold shot detection algorithm based on improved block color features is proposed in this paper. This paper adopts an improved block color feature extraction method based on equal area of rectangular ring. Sub-block accumulative color histogram is extracted as color features and different weight for different rectangle rings is set in order to highlight the central part of frame. Then,...
The goal of this study is to achieve automatic extrinsic calibration of a camera-LiDAR system that does not require calibration targets. Calibration through maximization of statistical dependence using mutual information (MI) is a promising approach. However, we observed that existing methods perform poorly on outdoor data sets. Because of their susceptibility to noise, objective functions of previous...
Industrial parts often have various closed loop boundaries (CLBs) of a convex geometric shape such as bolt holes. CLBs can serve as an effective 3D geometric feature for the recognition and pose estimation of industrial parts. However, an accurate extraction of 3D CLBs from a single shot 3D point cloud has been hampered by the possible CLB self-occlusion from a 3D camera perspective, resulting in...
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