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Filming team sports is challenging because there are many points of interest which are constantly changing. Unlike previous automatic broadcasting solutions, we propose a data-driven approach for determining where a robotic pan-tilt-zoom (PTZ) camera should look. Without using any pre-defined heuristics, we learn the relationship between player locations and corresponding camera configurations by...
We present a framework and algorithm to analyze first person RGBD videos captured from the robot while physically interacting with humans. Specifically, we explore reactions and interactions of persons facing a mobile robot from a robot centric view. This new perspective offers social awareness to the robots, enabling interesting applications. As far as we know, there is no public 3D dataset for this...
Human re-identification remains one of the fundamental, difficult problems in video surveillance and analysis. Current metric learning algorithms mainly focus on finding an optimized vector space such that observations of the same person in this space have a smaller distance than observations of two different people. In this paper, we propose a novel metric learning approach to the human reidentification...
The optimization problem of estimate a vector x such that minimize ∥Ax∥ subject to ∥x∥ = 1, where A is a m×n matrix, is frequently found in computer vision. The solution of this problem is the right singular vector associated to the the smallest singular value. This problem must be solved very fast, for example, in real time applications as augmented reality environments are. It is show in this work...
In this paper, we describe a novel method using only optical flow from a single camera and inertial information to quickly initialize, deploy, and autonomously stabilize an inherently unstable aerial vehicle. Our approach requires a minimal number of tracked features in only two consecutive frames and inertial readings eliminating the need of long feature tracks or local maps and rendering it inherently...
This paper introduces a high efficient local spatiotemporal descriptor, called gradient boundary histograms (GBH). The proposed GBH descriptor is built on simple spatio-temporal gradients, which are fast to compute. We demonstrate that it can better represent local structure and motion than other gradient-based descriptors, and significantly outperforms them on large realistic datasets. A comprehensive...
A variety of portable or wearable navigation systems mounted on smart glasses and smartphones have been developed to assist visually impaired people over the last decade. In these systems, collision detection is one of the key components. Many conventional methods with the monocular vision estimate the collision risk based on the motion information of obstacles in the image by measuring the size change...
This paper presents a new approach to the detection of a vehicle with low relative speed to a monocular moving camera, for complementing moving vehicle detection using motion vectors from H.264/AVC encoder. This method makes use of the generic horizontal line features that exist on most vehicles as a clue of localizing moving vehicles. Further filtering and grouping of these detected lines followed...
Consumers nowadays demand for more convenient human-device interaction (HDI) in every device they use. As a part of the HDI technologies, remote eye gaze tracking (REGT) is getting more attentions. Among state-of-the-art REGT methods, the ones which utilize four infrared (IR) lights have better accuracy and robustness to head movements. In this paper, a novel glint estimation method is proposed, which...
With the rapid advancement of eCommerce, it has become a common trend for customers to write reviews about any product they purchase. For certain popular products, such as cell phones, laptops, tablets, the number of reviews can be hundreds or even thousands, making it difficult for potential customers to identify specific aspect based overview of the product (for example, screen, camera, battery...
Person re-identification is to match the appearance based images of an individual who has already been captured by different camera perspectives. This paper presents an appearance based model for person re-identification. It consists of the formation of prototypes followed by a matching strategy. The prototypes are discovered from the visual appearances among the individuals with similar characteristics...
Visual SLAM algorithms exploit natural scene features to infer the camera motion and build a map of the environment landmarks. SLAM algorithm has two interrelated processes localization and mapping. For accurate localization, we need the features location estimates to converge quickly. On the other hand, to build an accurate map, we need accurate localization. Recently, a biologically inspired approach...
Non-Perspective Three Point Pose (NP3P) problem is a generalization of the classical three point pose problem for the case of multi-camera that have no common projection center. In this paper, we develop a simple, minimal algebraic solution to the NP3P problem where the projection rays of three points may have arbitrary but known directions. This problem is known to have a maximum of eight solutions...
High dynamic range (HDR) image is becoming prevalent for its superiority in recording details of the real-world scene. A conventional exposure fusion method can be utilized to generate a HDR image from a set of differently exposed low dynamic range (LDR) images according to their weight maps. However, this method causes ghosts in the HDR image if there are moving objects or the background changes...
In this paper, a repetitive assembling task is considered for industrial manipulator, where vision-based precise trajectory tracking is necessary. Conventional visual servoing methods suffer from their poor dynamic performance, while the proposed open-plus-closed loop framework solved this problem by iterative learning. System error is defined by the directly measurable homography matrix and feature...
In this paper a new method for attitude estimation of rigid body using line-based vision and a Multiplicative Extended Kaiman Filter (MEKF) is developed. A vision-based line-tracking algorithm that allows to detect and to track points and lines along sequence of images without drift is used. From this algorithm, we can get an implicit measure of the lines direction. The latter are then fused with...
Every winter, the all-sky cameras (ASCs) in the MIRACLE network take images of the night sky at regular intervals of 10–20 s. This amounts to millions of images that not only need to be pruned, but there is also a need for efficient auroral activity detection techniques. In this paper, we describe a method for performing automated classification of ASC images into three mutually exclusive classes:...
In this paper we focus on the evaluation of the deformable part model (DPM) proposed by Felzenszwalb et al. [IO] in the context of vision-based people detection in heavy machines applications. The proposed system uses a single fisheye camera to provide a wide field-of-view (FOV) at low cost. However, the fisheye optical distortions present several difficulties for image processing and object recognition...
This paper proposes an algorithm for visual-inertial camera pose tracking, using adaptive recursive particle filtering. The method benefits from the agility of inertial-based and robustness of vision-based tracking. A proposal distribution has been developed for the selection of the particles, which takes into account the characteristics of the Inertial Measurement Unit (IMU) and the motion kinematics...
User's multimedia interaction is facing a paradigm shift from 2D to 3D videos. Nonetheless, it is still difficult to watch 3D videos with a mobile device. With current technological barrier in wireless networking, it is hardly imagined that the timely transmission for a 3D video streaming could be feasible with the mobile device. In this paper, we propose ReMA, a novel 3D video distribution system...
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