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Reliable localization is one of the most important parts of an MAV system. Localization in an indoor GPS-denied environment is a relatively difficult problem. Current vision based algorithms track optical features to calculate odometry. We present a novel localization method which can be applied in an environment having orthogonal sets of equally spaced lines to form a grid. With the help of a monocular...
This study aimed to improve the precision of multiple robots' self-localization in the standard platform league of RoboCup, i.e. a robotic soccer competition. For improving the precision of the self-localization, we proposed a new technique that uses an external camera out of the field for assistance. Robots in the field use the unscented particle filter that estimates their position from some landmarks...
This paper presents our research on indoor location estimation based on the identity of floor surface patterns, which we call “floor fingerprints,” calculated from a photographic image of the floor taken by a user. Because floor textures generally appear to lack sufficient detail concerning surface features, it may seem impossible for general feature detection algorithms to find matching pairs of...
The paper presents a new method of vehicle speed estimation using image data processing. The presented method employs conversion of greyscale input images into binary form. Image conversion into binary form is based on small gradients in the input images. Contents of the obtained binary images correspond with traffic scenes presented in the input images. Vehicle speed is estimated on the basis of...
On the aged society coming soon, many studies have explored homecare technologies. In this work, the activities at home are captured by a panoramic camera located at the center of a living room, and then analyzed and classified into standing, walking, sitting, falling, and watching television. First, the background subtraction scheme accompanied with shadow removal, and morphological operators of...
This paper presents a novel background subtraction method that is flexible for various background scenarios. The method includes automated-directional masking (ADM) algorithm for adaptive background modeling and historical intensity pattern reference (HIPaR) algorithm for foreground segmentation. By selecting an appropriate mask in a set based on directional feature, ADM updates background smoothly...
People with physical disability such as quadriplegics may need a device which assist their mobility. Smart wheelchair is developed based on conventional wheelchair and is also generally equipped with sensors, cameras and computer based system as main processing unit to be able to perform specific algorithm for the intelligent capabilities. We develop smart wheelchair system that facilitates obstacle...
Person re-identification (ReID) stands for the task of determining the co-occurrence of individuals across a network of cameras with disjoint viewfields. The relevant literature documents a plausible number of contributions so far. KISS metric learning is an effective ReID method. However, as reported in the existing works, KISS metric learning is sensitive to the feature dimensionality and can not...
Autonomous Indoor Vehicle (AIV) is used for various purposes so it can reduce human workload. This study aims to develop a corridor navigation system for AIV that utilizes vision-based multi point sensing. Multi-point sensing techniques on floor and corridor areas are used to detect obstacle-free areas and estimate the direction of AIV. Area detection and direction estimation are used as input information...
Structured light techniques have received increased attention for depth estimation as they are robust and accurate. In this paper, we propose a method for camera-projector calibration which is required for structured light based depth estimation. We also propose enhancements to the existing hierarchical orthogonal coding (HOC) technique. The proposed space calibration technique is simple and fast...
Recently, visual inertial has became popular due to its excellent result. However, the excellent result severely depends on the accuracy of estimation of initial parameters. The existing method is not effective on estimating the initial parameters and lacks the function to perform the closed loop detection, which will cause the error accumulation and low accurate estimation to system's state. In the...
This paper describes an image processing method for an automatic determination of the position of a tennis player on a playground for further analysis of his motion. A testing code was written in C++ with use of OpenCV libraries. The processing chain consists of several image processing techniques such as a camera calibration, background subtraction or finding the largest contours. The main objective...
This paper proposes evaluation and implementation for media player system by hand gestures using Kinect sensor. The hardware consists of the Kinect for Windows with infra and color camera sensors to capture the depth and plane images, respectively, while the control program is written by VC#. When users execute the control program, the functions of the Media player system can be easily controlled...
Target localization is important in monitoring and tracking control. This paper employs the distributed convex optimization technique to investigate the vision-based target localization problem. Firstly, the target localization problem is transformed into a convex optimization problem under the Minimum Squared Error criterion. Then a modified consensus-based distributed subgradient algorithm is proposed...
Many man-made objects have intrinsic symmetries and Manhattan structure. By assuming an orthographic projection model, this paper addresses the estimation of 3D structures and camera projection using symmetry and/or Manhattan structure cues, which occur when the input is single-or multiple-image from the same category, e.g., multiple different cars. Specifically, analysis on the single image case...
We introduce a novel approach to jointly estimate consistent depth and normal maps from 4D light fields, with two main contributions. First, we build a cost volume from focal stack symmetry. However, in contrast to previous approaches, we introduce partial focal stacks in order to be able to robustly deal with occlusions. This idea already yields significanly better disparity maps. Second, even recent...
We present a method for removing specular highlight reflections in facial images that may contain varying illumination colors. This is accurately achieved through the use of physical and statistical properties of human skin and faces. We employ a melanin and hemoglobin based model to represent the diffuse color variations in facial skin, and utilize this model to constrain the highlight removal solution...
We study the problem of deblurring light fields of general 3D scenes captured under 3D camera motion and present both theoretical and practical contributions. By analyzing the motion-blurred light field in the primal and Fourier domains, we develop intuition into the effects of camera motion on the light field, show the advantages of capturing a 4D light field instead of a conventional 2D image for...
We propose a novel, practical solution for high quality reconstruction of axially-symmetric transparent objects. While a special case, such transparent objects are ubiquitous in the real world. Common examples of these are glasses, goblets, tumblers, carafes, etc., that can have very unique and visually appealing forms making their reconstruction interesting for vision and graphics applications. Our...
Non-uniform blind deblurring for general dynamic scenes is a challenging computer vision problem as blurs arise not only from multiple object motions but also from camera shake, scene depth variation. To remove these complicated motion blurs, conventional energy optimization based methods rely on simple assumptions such that blur kernel is partially uniform or locally linear. Moreover, recent machine...
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