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Body Condition Scoring (BCS) is a method of evaluating fatness or thinness in cows, and it is important to manage productivity of the cows. However, it is not easy to measure BCS by observing animals because it consumes much time and costs, especially in the large-scale farming. Therefore, almost farmers are not conducting regular evaluation of BCS. In this paper, we propose the noninvasive method...
A method used for estimating the distance between objects in photographic images is the depth from focus (DFF) method. The method has reportedly been implemented many times using only image-side telecentric optical systems because a change in image magnification becomes a problem due to differences in focus positions. Therefore, there have been no examples of this method having been implemented using...
UAVs (Unmanned Aerial Vehicles) have been widely used in power line inspections, but low autonomous cruise capacity of UAVs requires strict condition for operators and site while landing during UAV power line inspections. This paper presents an autonomous landing control technique for UAVs when charging at the electric towers based on vision positioning method. The proposed system consists of three...
This paper presents an automated monocular-camera-based computer vision system for autonomous self-backing-up a vehicle towards a trailer, by continuously estimating the 3D trailer coupler position and feeding it to the vehicle control system, until the alignment of the tow hitch with the trailers coupler. This system is made possible through our proposed distance-driven Multiplexer-CNN method, which...
The exponentially increasing use of moving platforms for video capture introduces the urgent need to develop the general background subtraction algorithms with the capability to deal with the moving background. In this paper, we propose a multilayer-based framework for online background subtraction for videos captured by moving cameras. Unlike the previous treatments of the problem, the proposed method...
Label estimation is an important component in an unsupervised person re-identification (re-ID) system. This paper focuses on cross-camera label estimation, which can be subsequently used in feature learning to learn robust re-ID models. Specifically, we propose to construct a graph for samples in each camera, and then graph matching scheme is introduced for cross-camera labeling association. While...
Shape reconstruction techniques using structured light have been widely researched and developed due to their robustness, high precision, and density. Because the techniques are based on decoding a pattern to find correspondences, it implicitly requires that the projected patterns be clearly captured by an image sensor, i.e., to avoid defocus and motion blur of the projected pattern. Although intensive...
The conventional methods for estimating camera poses and scene structures from severely blurry or low resolution images often result in failure. The off-the-shelf deblurring or super-resolution methods may show visually pleasing results. However, applying each technique independently before matching is generally unprofitable because this naive series of procedures ignores the consistency between images...
Scale recovery is one of the central problems for monocular visual odometry. Normally, road plane and camera height are specified as reference to recover the scale. The performances of these methods depend on the plane recognition and height measurement of camera. In this work, we propose a novel method to recover the scale by incorporating the depths estimated from images using deep convolutional...
In this paper we propose a fast method for detecting the ground plane in 3D scenes for an arbitrary roll angle rotation of a stereo vision camera. The method is based on the analysis of the disparity map and its “V-disparity” representation. First, the roll angle of the camera is identified from the disparity map. Then, the image is rotated to a zero-roll angle position and the ground plane is detected...
The widely accepted block-matching technique, which is required to identify motion vectors, fails in cases in which texture is not existent. In [1], we proposed a hardware-oriented cellular-automaton algorithm that generates spatial patterns on textureless objects and backgrounds, aiming at motion-vector estimation of textureless moving objects. This demonstration presents a field-programmable gate...
Augmented reality is popular and rapidly growing direction. It is successfully used in medicine, education, engineering and entertainment. In the paper, basic principles of typical augmented reality system are described. An efficient hybrid visual tracking algorithm is proposed. The approach is based on combining of the optical flow technique with direct tracking methods. It is demonstrated that developed...
The reliable moving direction of the mobile robot helps stable navigation as well as robust self-localization. Since the sun is one of visible dominant landmarks for outdoor navigation, in this paper, we describe a new estimation algorithm for the mobile robot direction based on the sun azimuth angle from omnidirectional image. The proposed approach can be applicable outdoor navigated by using only...
A general approach is proposed to determine the occupancy in a room using sensor data and knowledge coming respectively from observation and questioning are determined. Means to estimate occupancy include motion detections, power consumptions and acoustic pressure rewarded by a microphone. The proposed approach is inspired from machine learning. It starts by determining the most useful measurements...
This paper assesses the estimation of the orientation of a camera rigidly attached to a vehicle body using vanishing points and then uses the estimated rotation to rectify images for navigation in indoor environments. The approach is facilitated by the fact that many indoor environments are rich in vertical and horizontal lines that are used for detecting vanishing points. The performance of the monocular-based...
Hammering test is widely used as a non-destructive testing method for concrete structures. In hammering test, it is important for reducing human's burden and time-consumption because there are large and a lot of concrete surfaces which should be inspected. This paper introduces a novel approach to support hammering test effectively b y displaying the diagnostic results immediately on the concrete...
This paper propose an autonomous landing method for unmanned aerial vehicles (UAVs), aiming to address those situations in which the landing pad is the deck of a ship. Fiducial marker are used to obtain the six-degrees of freedom (DOF) relative-pose of the UAV to the landing pad. In order to compensate interruptions of the video stream, an extended Kalman filter (EKF) is used to estimate the ship's...
In this paper, we address the problems of camera pose estimation accuracy and runtime efficiency by incorporating an elite selection method and a voting system to a conventional visual odometry (VO) method, called the “enhanced VO algorithm”. The use of elite selection method improves the efficiency of perspective-3-point (P3P) algorithm by only employing an elite subset of landmarks to estimate the...
This research proposes a convolutional neural network based pupil center detection method from an eye image which is captured by a wearable eye camera. This paper investigates the detection accuracy by applying several preprocessing, such as edge detection, and binarization. We find the preprocess method in order to speed up the computation time. We collected approximately 8,000 eye images with six...
Urban environment constitutes a challenging area for pedestrian navigation. However, with the recent increase of pedestrians owning devices (e.g. smartphones), complementary data provided by integrated low cost sensors (camera, Inertial and Magnetic Measurement Unit and GNSS receiver) may be used in a coupling process to accurately estimate the pose (i.e. 3D position and 3D orientation) of a handheld...
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