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With the increasing development of underwater vision sensors, simultaneous localization and mapping (SLAM) based on stereo vision has become a hot topic in the areas of ocean investigation and exploration. In this paper, visual SLAM with a focus on stereo camera system is presented to estimate the motion of autonomous underwater vehicles (AUVs) and build the feature map of surrounding environment...
The present work describes a new procedure to find the region of interest with a high speed laryngeal video sequence. This approach is based on analyzing the average intensity variations both in the columns and in the rows of the images. The first variations to take into account are those arising in each column. The graphics obtained from these variations will resemble to a Gaussian, where the maximum...
In the field of machine vision, a very important task is to use the visual information to estimate the attitude of camera. The traditional approach is to embed a visual mark in the image's texture for attitude estimation. However, a visual mark would spoil the unity of the image. This paper introduces a novel attitude estimation method using the spatial frequency domain analysis. In this method, the...
In this paper we present a novel approach for the estimation of metric velocities and metric distances to landmarks utilizing monocular images and inertial measurements only. The proposed algorithm is based on an Extended Kalman Filter and is closely related to the well known Simultaneous Localization and Mapping (SLAM). In contrast to standard SLAM formulations the state of an agent is expressed...
Accurate object tracking has become increasingly important with developments in Lidar and high-resolution camera systems for remote surveillance. Typical methods utilize Markov Chain state estimation paired with Kalman or particle filters. These methods, however, are susceptible to loss of track if an error is encountered or a loss of image occurs. We developed a set of algorithms built on more recent...
In this paper, a semi autonomous robot design serves the purpose of automatic loading and unloading of blocks using Image processing and machine learning. The automation part includes automatically detecting the distance and loading/unloading of the load object. The robot undergoes semi unsupervised learning. Distance, is measured using single camera based on pixel area measurement. A G.U.I is present...
In a three-dimensional(3-D) measurement system based on a digital light processing (DLP) projector and a camera, a height estimating function is proposed based on geometric analysis. The proposed 3-D shape measurement method is a hybrid method that combines the geometric parameter measuring method and the least squares method. This method uses the phase-to-height relationship for one line by plane...
The paper presents the shot classification algorithm used to classify the scenes from football TV broadcasting, to extract only the far view scenes. The far-view scenes are important for the segmentation and tracking of the players during the game, required for devising an abstract model for the interpretation of the game. The system for developing such a platform is named ACE-Football, and is currently...
In this paper, we introduce an efficient way for extrinsic calibration between a LRF and a camera. By utilizing multiple edges of a known 3D structure, we derived a simple but robust calibration method. Through 3D reconstruction experiments, we verified the accuracy of the proposed method.
In this paper we propose a technical mesh of an unknown 3D scene from two or more images taken by cameras having the constant parameters based on genetic algorithms. The present approach is based on the formulation of a nonlinear cost function from the determination of a relationship between points of the image planes and all parameters of the cameras. The minimization of this function by a genetic...
In this study, a 3D curve sketching system that imitates paper-and-pencil design styling for industrial and architectural designers is presented, which allow directly freeform 3D curve modeling. The system coherently integrates three kinds of curve creation methods: single-view with multi-stroke, two-view epipolar and projection surface, to transitions imperceptible from paper-and-pencil based 2D...
A novel method is proposed for the calibration of a camera - 3D lidar pair without the use of any special calibration pattern or point correspondences. The proposed method has no specific assumption about the data source: plain depth information is expected from the lidar scan and a simple perspective camera is used for the 2D images. The calibration is solved as a 2D-3D registration problem using...
This paper presents a new single image dehazing algorithm using dark channels with global transmission. The existing algorithms using dark channels cannot deal well with the scene in which objects are inherently similar to the atmospheric light and no shadow is cast on them. In order to eliminate the limitation, we use the positive depth of field prior and the global dynamic template instead of local...
In this paper, we investigate the effects of including disparity as an explicit measurement (not just for initialization) in addition to the projective camera measurements, in conventional monocular/bearing-only SLAM in a 2-D world. We conduct an observability analysis for a 1.5-D scenario which theoretically shows that adding disparity measurements influences the observability rank condition, and...
This document compares global bundle adjustment via the ubiquitous Levenberg-Marquardt to a Kalman filter to estimate parameters of a homographic transformation between two or more images starting from bad initial conditions. We show that the filtering technique outperforms sparse bundle adjustment in terms of projection error and computational costs. The techniques are tested on real world images...
This paper presents a novel stereo-based visual odometry approach that provides state-of-the-art results in real time, both indoors and outdoors. Our proposed method follows the procedure of computing optical flow and stereo disparity to minimize the re-projection error of tracked fea ture points. However, instead of following the traditional approach of performing this task using only consecutive...
Many well studied works for accurate 3-D shape measurement which based on structured light technique have been presented in last decades. Among them, one common way is utilizing the binocular stereovision like model to get 3-D information. In this model, projector is always treated like a camera, thus making the projector-camera based system unified with a well-established traditional binocular stereovision...
A variety of camera calibration methods are available from the so-far known literature. But most of them aim at camera with conventional lens, the so-called pinhole camera model. Few attentions have been paid to camera with small field-of-view (FOV) and depth-of-field (DOF) telecentric lens. Therefore an effective calibration method is highly necessary. In this paper a new method is proposed to accurately...
Our bionic eye PTZ requires the tracking target at the central field of view of the camera, which means it is so important to realize the target tracking well in the first step. The particle filter method is famous for its robust tracking performance in cluttered environments. However, most methods are in the mode of moving object and stationary camera and they are not utilizing so well on the bionic...
In this paper we propose a novel motion vector outlier removal technique for global (camera) motion estimation based on adaptively weighted vector median filtering. The accuracy of motion vector based global motion estimation algorithms is highly dependent on the ability of the system to reject outlier motion vectors. The outlier motion vectors may be due to noise, foreground objects or due to the...
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