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In this paper, we propose a novel system to estimate depth maps of outdoor scenes from a video sequence. According to the characteristics of a video, our approach considers more information in the temporal domain than the traditional depth reconstruction methods. We perform Structure From Motion (SfM) on consecutive image frames from a video from SIFT feature point correspondences, which provides...
In this paper we introduce a novel real-time method to track weakly textured planar objects and to simultaneously estimate their 3D pose. The basic idea is to adapt the classic tracking-by-detection approach, which seeks for the object to be tracked independently in each frame, for tracking non-textured objects. In order to robustly estimate the 3D pose of such objects in each frame, we have to tackle...
Stereology is an interdisciplinary method of mathematics and morphology, and is unbiased, quick, accurate, noninvasive, and has high reproducibility. It is widely used in radiation imaging and cell biology. In this paper, the confocal laser scanning microscopic images (CLSMI) of tumor cells of MCF-7 and B16/ GPR4 were quantitatively analyzed using stereological point counting method. 22 images of...
In this paper we introduce a novel real-time method to track weakly textured planar objects and to simultaneously estimate their 3D pose. The basic idea is to adapt the classic tracking-by-detection approach, which seeks for the object to be tracked independently in each frame, for tracking non-textured objects. In order to robustly estimate the 3D pose of such objects in each frame, we have to tackle...
In this paper, a methodology of employing a set of uniform circular arrays to localize the 3D position of a target in sensor networks is presented and the theoretical framework is given. Simulation results demonstrate the validity of the method and illustrate the effect of the element pattern on the accuracy of direction of arrival (DoA) estimation and positioning. A weighted least squares method...
We present a real-time camera pose tracking and mapping system which uses the assumption of a planar scene to implement a highly efficient mapping algorithm. Our light-weight mapping approach is based on keyframes and plane-induced homographies between them. We solve the planar reconstruction problem of estimating the keyframe poses with an efficient image rectification algorithm. Camera pose tracking...
In this paper, a new method for the estimation of 3D human body poses from monocular images is proposed. Histograms of oriented gradients are used as the features for modeling human body poses. Human body poses are represented as 3D limb angles, which can remove the structure information from pose vector. Relevance Vector Machine is used to infer the mapping from image features to body poses. Experiments...
A function to find objects and to estimate their 6D poses(x, y, z, pitch, yaw, roll) is crucial for a home service robot that works in human living environment. If a robot obtains 6D poses of target object, it can bring to that and use as tools.
We present an approach for merging into a single super-image a set of uncalibrated images of a general 3D scene taken from multiple viewpoints. To this aim, the content of either image is augmented with visual information taken from the others, while maintaining projective coherence. The approach extends the usual mosaicing techniques to image collections with3D parallax, and operates like a virtual...
3D reconstruction with sparse image sets requires more accurate view geometry estimation than a large number of images based 3D reconstruction. In this paper, we have proposed an automatic 3D reconstruction system based on a small set of images which can estimate the view transformation between different views accurately. The proposed system can build a more complete 3D result when only part of the...
The paper presents the applicability of the Rodrigues Rotation Formula (RRF) in the context of Two-Views Geometry estimation. The Epipolar Constraint is usually formulated as the belonging of an image point to its corresponding Epipolar Line, instead using the RRF we will arrange the same constraint in terms of equivalence between 3D unit-norm vectors. This alternative formulation generates a geometrically...
A state-of-the-arts biped robot can take footsteps such that its heels always overhang corner edges while ascending stairs, as humans naturally do. The overhanging footstep is advantageous in terms of relaxation of restrictions on gait planning. However, in a man-made environment without geometry information, the overhanging footstep requires the estimation of the exact step-edge position in real-time...
This paper presents an embedded vision system based on reconfigurable hardware (FPGA) and two CMOS cameras to perform stereo image processing and 3D mapping for autonomous navigation. We propose an EKF based visual SLAM and sparse feature detectors to achieve 6D localization of the vehicle in non flat scenarios. The system can operate regardless of the odometry information from the vehicle since visual...
Three closed-form solutions are proposed for six degree of freedom (6-DOF) visual odometry for light field cameras. The first approach breaks the problem into geometrically driven sub-problems with solutions adaptable to specific applications, while the second generalizes methods from optical flow to yield a more direct approach. The third solution integrates elements into a remarkably simple equation...
The challenge of markerless human motion tracking is the high dimensionality of the search space. Thus, efficient exploration in the search space is of great significance. In this paper, a motion capturing algorithm is proposed for upper body motion tracking. The proposed system tracks human motion based on monocular silhouette-matching, and it is built on the top of a hierarchical particle filter,...
We describe an algorithm for detection of electrical outlets in images obtained by a monocular camera. We provide a method for calculating 3D coordinates of outlet holes with accuracy high enough for a robot to plug in without visual servoing. The paper proposes a novel algorithm for accurate pose estimation of a small planar object. We use the plane normal obtained from stereo data as a hard constraint...
Real time and non invasive, the ultrasound imaging modality can easily be used in minimally invasive surgery or needle insertion procedures to visualize an organ or a tumor to reach. However the manual stabilization of the ultrasound image while the organ moves with patient breathing or heart beating can be very tricky. In this paper, we present an intensity-based approach to control both in-plane...
Ego-motion estimation and 3D scene reconstruction from image data has been a long term aim both in the Robotics and Computer Vision communities. Nevertheless, while both visual SLAM and Structure from Motion already provide an accurate ego-motion estimation, visual scene estimation does not offer yet such a satisfactory result; being in most cases limited to a sparse set of salient points. In this...
We present a 3D feature descriptor that represents local topologies within a set of folded concentric rings by distances from local points to a projection plane. This feature, called as Concentric Ring Signature (CORS), possesses similar computational advantages to point signatures yet provides more accurate matches. It produces more compact and discriminative descriptors than shape context. It robust...
A novel nonlinear volumetric scale-space framework is proposed for multi-scale volumetric data representation. The problem is formulated as a Bayesian least-squares estimator, and a quasi-random density estimation approach is introduced for estimating the posterior distribution between consecutive volumetric scale space realizations. Experimental results using both synthetic and real MR volumetric...
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