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Pipe inspection is a critical activity in gas production facilities and many other industries. In this paper, we contribute a stereo visual odometry system for creating high resolution, sub-millimeter maps of pipe surfaces. Such maps provide both 3D structure and appearance information that can be used for visualization, cross registration with other sensor data, inspection and corrosion detection...
We present a Z-SIFT based 3D surface registration algorithm that utilizes the depth information enhanced SIFT features to make initial alignment and the 2D feature weighted Iterative Closest Point (ICP) algorithm to realize accurate registration. The combination of SIFT features and depth information extracts faithful corresponding points between the 2D images and provides good coarse alignment for...
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...
Particle filters for mobile robot localization must balance computational requirements and accuracy of localization. Increasing the number of particles in a particle filter improves accuracy, but also increases the computational requirements. Hence, we investigate a different paradigm to better utilize particles than to increase their numbers. To this end, we introduce the Corrective Gradient Refinement...
In this paper we propose a framework for activity recognition based on space-time interest point in video surveillance. Single type interest point feature is not sufficient to identify the activity therefore we have considered multi-class activities fussed in three dimensional (spatial & time) coordinate to achieve our objective with maximum accuracy. Our experiment shows that fusing multi class...
In this paper the gaze point and gaze line were used for generation of the path of a mobile robot in an immersive virtual environment. The gaze point is considered the intersection of the lines of sight of the two eyes. The experiments were conducted in computer generated virtual reality environment using polarized glasses. The virtual scene was projected in front of the user on a 3D stereoscopic...
In this paper, we propose an innovative motion-capture system using ultrasonic communications. Compared with existing commercial motion-capture systems that use optical or magnetic sensing, the proposed system can provide a cost-effective solution for industrial and entertainment applications. To design and implement the system, a distance-estimation method called the Extended Phase Accordance Method...
In this paper, we present an experimental comparison of 3D rotation techniques. In all techniques, the third degree of freedom is controlled by the mouse-wheel. The investigated techniques are Bell's Trackball, Shoemake's Arcball and the Two-axis Valuator method. The result from a pilot showed no performance or accuracy difference among these three. However, we did observe minor differences in an...
Consumer depth cameras, such as the Microsoft Kinect, are capable of providing frames of dense depth values at real time. One fundamental question in utilizing depth cameras is how to best extract features from depth frames. Motivated by local descriptors on images, in particular kernel descriptors, we develop a set of kernel features on depth images that model size, 3D shape, and depth edges in a...
In this paper, we propose a confidence-based depth maps fusion approach for multi-view 3D reconstruction. We present a four-stage method to refine the fused depth map to get a higher accuracy. At first, we utilize the off-the-shelf Kinect device to acquire the raw multi-view depth maps quickly. To improve the accuracy, we compute the confidence values for the estimated depth maps in the second stage...
Motivated by the increasing availability of 3D sensors capable of delivering both shape and texture information, this paper presents a novel descriptor for feature matching in 3D data enriched with texture. The proposed approach stems from the theory of a recently proposed descriptor for 3D data which relies on shape only, and represents its generalization to the case of multiple cues associated with...
Camera calibration is a necessary step to extract 3D information from 2D images. Since the 1D object is easy to construct and without self-occlusion, the 1D calibration proposed by Zhang has received many attentions. However, the progress in 1D calibration mainly focuses on reducing restrictions on the 1D object's movements. The calibration accuracy still demands improvements. In this paper, the computational...
In this paper, we propose an efficient people localization approach using multiple cameras based on axial representations of foreground regions. Unlike many previous methods that need to project all foreground pixels of all views to multiple reference planes via homography, we instead apply vanishing point-based line sampling to reduce the large amount of pixel processing so that computational efficiency...
Current LiDAR classification methods are excessively slow to be used in real-time navigation systems, even though they are useful for human perception. These methods typically analyze curvature by applying Principal Component Analysis (PCA) to each point in a point cloud. For variable-density aerial LiDAR obtained by at a shallow angle with respect to the ground rather than in a top-down fashion,...
Research on facial expression recognition has steadily been moving from analysis of deliberative frontal expressions to analysis of unconstrained spontaneous expressions. This shift has spawned complex 3D models and computationally expensive geometric methods that prevent usage on resource constrained platforms such as smart phones. This paper presents manifold learning techniques for accurate multi-view...
In this paper, we propose a 3D template-based human action detection base on volume pattern matching. A volume pattern is obtained by detecting the principal plane from a space-time patch using the 3D moment-preserving technique. Instead of segmentation and detailed shape representation, the objective of this research is to develop and apply computer vision methods that explore the structure of a...
We present a method for approximate 3D point sets alignment to register surfaces with varying degrees of overlap. The approach is based on a novel technique to extract dynamically the sets of coplanar 4-points from a 3D point set which are approximately congruent. The choice of bases from one 3D set to be matched to the others for possible registration is done automatically, and it is refined dynamically...
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...
Today many people in the world without any (or with little) knowledge about video recording, thanks to the widespread use of mobile devices (PDAs, mobile phones, etc.) take videos. However the unwanted movements of their hands typically blur and introduce disturbing jerkiness in the recorded sequences. A fundamental issue is the overall robustness with respect to different scene contents (indoor,...
Human detection has attracted much attention in recent years due to its widespread applications. Most existing multi-camera systems focus on locating moving people in each camera and thus resolve the occlusion, which cannot detect still people in images. To overcome this problem, we extend previous 3D search method from single camera to multi-camera. We first use the method of multiple view geometry...
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