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Vision-based egomotion estimation can be employed to endow with navigation ability an Unmanned Aerial Vehicle (UAV) that is equipped with an on-board camera. The egomotion estimation block computes the 3D UAV motion, taking as an input a 2D optical flow map that is constructed for each of the captured video frames. This work considers sparse optical flow estimation, and thus the navigation system...
Multiple people tracking from multiple cameras can suffer from various problems, particularly from inter-person occlusions. This paper attempts to solve the problems by analyzing the view visibility and ranking the reliability of the cues from 2D views. It combines the visibility with the smoothness constraints into a probability framework, which offers a more flexible and robust estimation. Moreover,...
This paper proposes a 3D model gaze estimation method based on a single-camera that can widely use as the computer input device for human computer interaction. To avoid using extra light sources and allow free head movements, our method creates an accurate model of the eye and gaze estimation algorithm, which based on the spatial relationships of the eye and the screen. Establishment of 3D gaze estimation...
In this paper, we propose a new method for three dimensional rotation-free recognition of characters in scene. In the proposed method, we employ the Modified Quadratic Discriminant Function (MQDF) classifier trained with samples generated by three-dimensional rotation process in a computer. We assume that when recognizing individual characters, considering three-dimensional rotation can approximately...
Generalized camera model (GCM) has been introduced recently to unify the analysis and description of a variety of non-conventional camera designs (e.g. catadioptric and omnidirectional), as well as multi-camera systems. In this paper, we extend the well-known and powerful Tomasi-Kanade type factorization framework to generalized cameras. We first prove that even for such seemingly more complicated...
Attention operators based on 2D image cues (such as color, texture) are well known and discussed extensively in the vision literature but are not ideally suited for robotic applications. In such contexts it is the 3D structure of scene elements that makes them interesting or not. We show how a bottom-up exploration mechanism that fuses 2D saliency-based conspicuity with spatial abstraction resulting...
This paper describes a human shape reconstruction method from multiple cameras in daily living environment, which leads to robust markerless motion capture. Due to continual illumination changes in daily space, it had been difficult to get human shape by background subtraction methods. Recent statistical foreground segmentation techniques based on graph-cuts, which combine background subtraction information...
This paper presents a system dedicated to the real-time estimation of attitude and altitude for unmanned aerial vehicles (UAV) under low light and dark environment. This system consists in a fisheye camera, which allows to cover a large field of view (FOV), and a laser circle projector mounted on a fixed baseline. The approach, close to structured light systems, uses the geometrical information obtained...
The main objective of this paper is to minimize the occluded areas in order to recognize the navigation of the surgeon's tools for a two-arm autonomous robotic system for laparoscopic procedures. This robotic assistant needs the tracking of the surgeon's surgical gestures in order to recognize the current maneuver and to execute the automated tasks of the robot. The surgical tools pose estimation...
This paper presents and compares two different approaches to integrating sensor information from an Inertial Measuring Unit (IMU), Global Positioning System (GPS) receiver and monocular vision camera mounted to a low-flying Unmanned Aerial Vehicle (UAV) for building large-scale 3D terrain reconstructions. Both approaches utilise a statistically optimal bundle adjustment formulation that incorporates...
Wireless localization has attracted increasing attention from both researchers and engineers. Most of the state-of-the-art localization techniques are designed based on line-of-sight (LOS) radio propagation. The present paper focuses on indoor scenarios which are multipath and rich scattering environments considering non-line-of-sight (NLOS) propagations. Based on the measured angle-of-departure (AOD),...
This paper presents a novel real-time approach for robust high precision and high quality depth estimation. It extends recent work on real-time Patch-Sweeping by combining the advantages of a robust hybrid stereo-based disparity estimator with the high accuracy of the Patch-Sweeping approach. It overcomes limitations of the existing Patch-Sweep approach, such as limited search range. Further, it implicitly...
In this paper we present a novel object classification and pose recovery algorithm which takes advantage of existing 3D models and multiple synchronized and calibrated views. Having a calibrated scenario provides redundant data which can be exploited for gathering spatial consistency of an object's 3D pose and its class. In a first step, the cameras need to be calibrated and aligned to one common...
Facial landmark detection is an essential module in many face related applications and it often appears as the most time consuming part in face processing pipeline. This paper proposes a fast and effective method for facial landmark detection using Haar cascade classifiers and a simple 3D head model, which not only detects the position of landmark points but also gives an estimation of head pose such...
Inaccuracy depth estimation may influence on depth coding and virtual view rendering in the free-viewpoint television (FTV) system, an improved depth map estimation is proposed to solve the problem for coding and view synthesis. Firstly, check the consistency of initial depth, and the influence of initial miss-matches is minimized by introduction of an additional adaptive matching error selection...
We describe an approach to2D-to-3D video conversion for the stereoscopic display. Targeting the problem of synthesizing the frames of a virtual ‘right view’ from the original monocular 2D video, we generate the stereoscopic video in steps as following. (1) A 2.5D depth map is first estimated in a multi-cue fusion manner by leveraging motion cues and photometric cues in video frames with a depth prior...
Multi-camera 3D tracking systems with overlapping cameras represent a powerful mean for scene analysis, as they potentially allow greater robustness than monocular systems and provide useful 3D information about object location and movement. However, their performance relies on accurately calibrated camera networks, which is not a realistic assumption in real surveillance environments. Here, we introduce...
Single camera stereo system utilizes mirrors and a single camera for computational stereo, where the mirrors provide extra views needed for stereo and 3D reconstruction. In this paper, we investigate the basic epiploar geometric properties of the single camera stereo image and propose a novel image rectification technique to map the epipolar lines in the original image into the horizontally aligned...
Holoscopic imaging, also known as integral imaging, provides a solution for glassless 3D, and is promising to change the market for 3D television. To start, this paper briefly describes the general concepts of holoscopic imaging, focusing mainly on the spatial correlations inherent to this new type of content, which appear due to the micro-lens array that is used for both acquisition and display....
In this contribution a novel method to compute dense point-to-point correspondences between 3D faces is presented. The faces are aligned in 3D space with a Generalized Procrustes Analysis and subsequently mapped into 2D space. To compute a correspondence flow between two faces an energy function is minimized which is based on the following assumptions: smoothness of the flow, mapping of landmarks...
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