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Camera based systems are gaining popularity in automotive driver assistance systems. They are used to detect obstacles, road signs, road markings and other road users. Today, even low cost camera technology enables obtaining a very good image resolution and therefore cameras are able to give a good 2-dimensional image. Due to the projection of an image into the camera's sensor plane, its main disadvantage...
This paper presents a real-time vision-based object tracking system consisting of a camera on a 2-DOF manipulator which, for example, can be a PT camera. The main novelties of the proposed tracking system include the ability to i) reduce the image processing load by relying on the object position as the only feature of the images acquired from a camera, and ii) estimate the distance and motion of...
To improve the performance and the efficiency of Laser Doppler Vibrometers (LDVs) for long-range hearing, we design an active multimodal sensing platform that integrates a Pan-Tilt-Zoom (PTZ) camera, a mirror and a Pan-Tilt-Unit (PTU) to the LDV. With the assistance of the vision and active control components, the LDV can automatically select the best reflective surfaces, point the laser beam to the...
This paper presents a top-down approach to stereo for use in driver assistance systems. We introduce an asymmetric configuration where monocular object detection and range estimation is performed in the primary camera and then that image patch is aligned and matched in the secondary camera. The stereo distance measure from the matching assists in target verification and improved distance measurements...
A common prerequisite for many vision-based driver assistance systems is the knowledge of the vehicle's own movement. In this paper we propose a novel approach for estimating the egomotion of the vehicle from a sequence of stereo images. Our method is directly based on the trifocal geometry between image triples, thus no time expensive recovery of the 3-dimensional scene structure is needed. The only...
The paper deals with the issue of action recognition as an application of the new 3D time-of-flight (ToF) camera, exploiting the special ability of the device to measure distances. Segmentation of moving people is straightforward from the distance information and subsequent steps of the processing chain follow in a classical way. We describe the first results on action recognition using ToF camera...
Interactivity is one of the key challenges for immersive applications like gaming. Manufacturers have been working towards interfaces that are driven by a device (e.g. a Wiimote) or interfaces that are controlled by a camera with a subsequent computer vision module. Both approaches have unique advantages, but they do not permit to localize users in the scene with an appropriate accuracy. Therefore,...
We describe a novel and robust minimal solver for performing online visual odometry with a stereo rig. The proposed method can compute the underlying camera motion given any arbitrary, mixed combination of point and line correspondences across two stereo views. This facilitates a hybrid visual odometry pipeline that is enhanced by well-localized and reliably-tracked line features while retaining the...
This paper addresses the problem of AUV navigation by showing the feasibility of a stereo visual-inertial approach to odometry retrieval for an AUV. This information is intended as input for a complete SLAM system. After its classification among many other similar approaches in recent work is shown, the algorithm is described in detail. A number of experiments conducted on synthetic data show the...
Based on the digital image processing theory, a new method of measuring the leading vehicle distance was proposed. The input image using the method of edge enhancement and morphological transformation was established, so the edges of objects were enhanced to identify. The target vehicle was identified and calibrated in the image by using the method of the obstacle detection by segmentation and decision...
Differential-drive mobile robots are usually equipped with video-cameras for navigation purposes. In order to ensure proper operational capabilities of such systems, several calibration steps are required to estimate the following quantities: the video-camera intrinsic and extrinsic parameters, the relative pose between the camera and the vehicle frame and, finally, the odometric parameters of the...
Visual teach-and-repeat navigation enables long-range rover autonomy without solving the simultaneous localization and mapping problem or requiring an accurate global reconstruction. During a learning phase, the rover is piloted along a route, logging images. After post-processing, the rover is able to repeat the route in either direction any number of times. This paper describes and evaluates the...
This paper presents the implementation in the Matlab/Simulink environment of an application for measuring distances using a video camera. Some of the advantages of using image processing as a method of measurement and of the Matlab for designing de application. The principles that where use to obtain de distance calculated where presented. Also the steps of the application implementation in Simulink...
The research presented introduces a new methodology to infer environment structure and robot localization by using a monocular machine vision system. The local field of view is constrained to the vicinity of the mobile robot in order to accomplish with robust navigation issues. The strategy proposed uses optical flow techniques and planar models to obtain qualitative 3D information and robot localization...
Sequential monocular SLAM systems perform drift free tracking of the pose of a camera relative to a jointly estimated map of landmarks. To allow real-time operation in moderately sized environments, the map is kept quite spare with usually only tens of landmarks visible in each frame. In contrast, visual odometry techniques track hundreds of visual features per frame. This leads to a very accurate...
This paper presents an image-based framework for measuring target objects on an oblique plane by using a single CCD camera and two parallel laser projectors beside the camera. Because of the alignment of the laser beams which form in parallel with the optical axis, projected spots in the image can be processed to establish relationships between distance and pixel counts between the projected spots...
This paper presents an image-based system for measuring target objects on an oblique plane based on pixel variation of CCD images for digital cameras by referencing to two arbitrarily designated points in image frames. Based on an established relationship between the displacement of the camera movement along the photographing direction and the difference in pixel counts between reference points in...
This is a proposal on combination of PSO based path planning by using data from odometry and on-board camera image based obstacle avoidance for real time multi-agents robotics system application. This is a system which is a robust yet low cost centralized control multi-agent system for various application especially indoor surveillance systems. PSO will help the robots to move towards the target and...
A lot of plumbings such as gas pipes and water pipes exist in public utilities, factories, power plants and so on. It is difficult for humans to inspect them directly because they are long and narrow. Therefore, automated inspection by robots equipped with camera is desirable, and great efforts have been done to solve this problem. However, many of existing inspection robots have to rotate the camera...
This paper presents the design of an array of avalanche photodiodes (APD) in standard CMOS technology for a 3-D camera. The distance measurement is based on the time of flight principle, more precisely on the phase-shift measurement method. The pixel is operated in permanent sinusoidal regime based on optoelectronic mixing technique. Circuit simulations allowed the architecture validation and the...
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