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In this paper, we describe a portable Omnidirectional Vision System for Environment Perception (OVSEP) with 5 Degrees of Freedom (DOFs). OVSEP has a modular design and it is equipped with three main components: hardware, control architecture and visual processing part (omnidirectional vision and stereovision). A face detection algorithm and a method for 3D reconstruction have been used to evaluate...
This paper proposed a visual control method with a relative position measurement model of stereo vision fixed in the work space for the approach movements of 7-DOF redundant manipulator. The relative position between the end-effectors' endpoint and object will be solved in real-time by the measurement model of stereo vision, then using position-based visual servo method, the endpoint position will...
Depth information can be obtained using stereo matching algorithms, which compute the horizontal displacement (disparity) of the corresponding points and convert to depth information using the triangular relation. However, the matching process is challenging with presence of textureless regions. This paper proposes a novel disparity refinement method for stereo matching based on Semi-global Matching...
Obstacle detection and map generation is an essential tool for site reconnaissance applications. Further it enables optimal and efficient path planning for mobile agents to navigate in unknown environments. This paper proposes a solution to this problem through a stereo vision-based obstacle detection and depth measurement method for reconnaissance. The proposed approach employs a boundary tracing...
The electronic cluster eye (eCley) is a new artificial compound eye with some prominent properties of high resolution, miniature volume, and large field of view. Although having the potential capability of obtaining the depth information, the limitation of the short focal length and tiny volume of the eCley still confine the conventional stereo matching algorithms to determine the distances of objects...
Recently, the 3D sensing technique using optical devices such as multiple cameras has been applied to various areas such as visualization, motion capturing, and so on. However, improvement of the camera model structure is indispensible for more precise measurement. In this study, we propose a camera modeling technique for 3D sensing based on tile coding (CMAC) structure. A distance between a sensing...
Unstacking is a process widely used in many industrial applications. This paper proposes an automatic unstacking system using an industrial robot and stereo vision. To detect a package to be picked, a shape-based matching (SBM) method is applied on 2D images. The 3D position of a selected package among pick-up candidates is calculated by acquiring a pair of correspondence points in the left and right...
Binocular stereo vision is an important branch of the research area in computer vision. Stereo matching is the most important process in binocular vision. In this paper, a new stereo matching scheme using shape-based matching (SBM) is presented to improve the depth reconstruction method of binocular stereo vision systems. The method works in two steps. First, an operator registers the pattern including...
Regarding the palms recognition system studies, despite achieving a high success rate, hygiene problems in systems with contact and problems arising from changes in the alignment of the hand pose in non-contact ones have been encountered. To resolve these problems, 3D palmprint recognition systems have been developed, however these systems have not had the opportunity to spread due to expensive technologies...
Vision-based robotics perception still have a great focus of attention on building systems because of its common availability and low cost. The 3D data produced by the disparity calculation methods in stereo cameras are inaccurate and presents substantial noise. We present here our method to deal with the noisy 3D point cloud produced by stereo camera to build a navigation map and mark obstacles with...
Visual navigation is an important research field in robotics due to low cost of cameras and the good results that these systems usually achieve. This paper presents monocular and stereo vision-based detection methods. The obstacles are detected and fused through the Dempster-Shafer theory for generating a cloud of points that contains the probability of the existence of obstacles in the environment...
This paper proposes a system to determine the coordinate of an object which could be victim, survivor, or crashed airplane, in post-disastrous scene based on the known coordinate of the quadrotor. The use of quadrotor can avoid a limitation of ground vehicle which cannot traverse freely except with certain special platform or configuration. A stereo vision system, attached underneath the quadrotor,...
This paper proposes a novel method for detecting the moving vehicles in dynamic urban traffic scenes using a stereo camera. Relying on the fact that a set of feature points on a rigid 3D scene object are staying in a rigid 3D configuration, we propose to compute the relative motion between the camera and a moving object with an algorithm that follows from the visual odometry based motion estimation...
This paper presents a vision-aided method to restrain INS from drifting in GPS-denied periods. This system is composed of two cameras and an inertial measurement unit. Contrary to traditional SLAM, the coordinates of the feature points or any other priori information are not indispensable in this method. By using the tracked feature point from two consecutive frames, incremental displacement and velocity...
Stereo vision is a commonly known and well studied principle for depth acquisition. In many applications such as indoor surveillance a low number of applied stereo sensors is desired for covering a certain scene to almost full extend. This should keep system costs low. However, the limited field of view of classical two-lens stereo cameras counteracts this objective. To overcome this limitation we...
Each year the number of passengers travelling around the world is steadily increasing. Hence, the efficient handling of border crossings while maintaining a high security is a demanding challenge for the future. In this work we present the key security components for a novel proposed one-stop-shop (OSS) border control system, which tries to achieve greatest throughput of travelers while applying highest...
Stereo vision systems are essential for the 3D object reconstruction, industrial automation, telerobotics and many more. Stereo rectification process aligns the left and the right images such that their respective image rows are accurately aligned with each other. In this paper, we propose and implement a real-time stereo rectification of the high definition stereo image stream coming from the IP...
A robust computer vision system for an unmanned surface vehicle (USV) is being developed, in support of tracking a moving marine vehicle from the USV. A methodology to minimize the tracking errors regarding the raw 2-D measurements of the position of a target boat using a commercial stereo camera will be presented. This errors are mainly due to image quantization limitations and pixel miscorrespondences...
In this paper, a novel method for people detection and tracking is proposed, based on stereo vision. Each person is represented by a group of the feature points. In this method feature point extraction and 2D space construction of projected points on the ground plane is performed in order to provide top view. Occlusion, as a main challenge in tracking systems, can be addressed by top view scene. A...
This paper addresses the development of an underwater visual navigation system for a Remotely Operated Vehicle (ROV) based on Real-Time Simultaneous Localization and Mapping method using natural landmarks. Our proposed approach was tested in an indoor tank, where field experiments were performed to obtain 3D vehicle (VIDEORAY Pro3 ROV) trajectory, and results validated using an external stereo vision...
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