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Finding correspondences between image pairs is a fundamental task in computer vision. Herein, we focus on establishing matches between images of urban scenes which are typically composed of planar surface patches with highly repetitive structures. The latter property makes traditional point-based methods unreliable. The basic idea of our approach is to formulate the correspondence problem in terms...
We propose a novel solution for reconstructing planar surface patches from omnidirectional camera images. The theoretical foundation relies on variational calculus, which yields a closed form solution for the normal vector a 3D planar surface patch, when a homography is known between the corresponding image region pairs. The method is quantitatively evaluated on a large set of synthetic data. Experimental...
Cricket broadcast video analysis has had difficulty identifying aspects of the content such as the type of batting stroke or the direction of the field played towards. Here we construct a composite feature combining Optical flow analysis along with camera view analysis to model the type of shots played. The work first presents an improved camera shot analysis based on learning parameters from a small...
In this paper, we propose an approach of following a visual path for humanoid navigation. The problem consists in computing appropriate robot velocities for the humanoid walking task from the visual data shared between the current robot view and a set of target images. Two types of visual controllers are evaluated: a position-based scheme and an image-based scheme. Both of them rely on the estimation...
Object tracking and manipulation is an important process for many applications in robotics and computer vision. A novel 3D pose estimation of objects using reflectionally symmetry formulated in Conformai Geometric Algebra (CGA) is proposed in this work. The synthesis of the kinematics model for robots and a sliding mode controller using the CGA approach is described. Real time implementation results...
This paper introduces a glasses tracking interface as an alternative to tracking the human head, which can be used in human-robot interaction. The main idea of this study is originated from the fact that the face of a glasses frame resembles two coplanar conies, which can be extracted and approximated simply through visual processing. We mainly address, in this paper, how the 3-D pose of two-conics...
In this paper, we figure out the problems of existing wall estimation methods using a 2D sensor and propose a reliable wall estimation method using a RGB-D camera. First, a point cloud is obtained by the RGB-D camera, and a surface normal is calculated at each point. Next, planes such as floor, right and left planes are classified by angle thresholding of the normal vector, where the thresholding...
There is a special type of concrete pipe beneath the roads in Malaysia which is called culvert. Detecting the place of damages in these pipes is important for maintenance operations. Pipe inspection robots are one of the most reliable ways to achieve this goal. Because of the wheel slippage, low speed motion and dynamic changes in kinematic of the robot, the INS and wheel encoder methods are not accurate...
In order to successfully navigate mobile robots in an unknown environment, an appropriate navigation strategy must be employed. Such a strategy certainly relies on an effective navigation map based on which robot trajectories can be well planned. The navigation map can be built based on a sparse map constructed by a visual simultaneous localization and mapping (VSLAM) algorithm. This paper presents...
Hand alphabet is an important sign language for disability people for a long time. This communication is also necessary for a normal people to understand the meaning as well. Hand language interpretation by applying a hand image posture classification is an active research theme to solve obstacle. In this research, we propose a promising technique to apply a B spline curvature concept for supporting...
To assist operators in precise teleoperation tasks within complex environments, assistance autonomous modules are required. A semi-autonomous path planning module that provides a reliable direction for the operators, is of paramount of importance in this field. This paper proposes a novel assisted method using a fixed camera for guiding the operator to control the manipulator remotely. The method...
Most sophisticated mammals, in particular primates, interact with the world to acquire knowledge and skills later exploitable to obtain biologically relevant resources. These interactions are driven by intrinsic motivations. Recent research on brain is revealing the system of neural structures, pivoting on superior colliculus, underlying trial-and-error learning processes guided by movement-detection,...
This paper introduces a new vision based controller that uses the entries of a homography matrix to control a highly maneuverable mobile robot. It aims to reduce the sensitivity of the control to calibration errors through connection of the perception and control in the data space of the sensor. The control law is formulated in a way that it is only dependent on features of the current image without...
This paper introduces a novel, robust and efficient approach for metric velocity estimation using multiple cameras with no overlapping fields of view. By incorporating rotation priors, the metric velocity estimation problem reduces to solving a set of linear equations. To determine the metric velocity, a total of three temporal point correspondences provided by at least two cameras are required. This...
Regarding the palms recognition system studies, despite achieving a high success rate, hygiene problems in systems with contact and problems arising from changes in the alignment of the hand pose in non-contact ones have been encountered. To resolve these problems, 3D palmprint recognition systems have been developed, however these systems have not had the opportunity to spread due to expensive technologies...
In this paper, an efficient unsupervised approach for extracting objects from maritime background using solely still video images is proposed. Its main idea is that maritime background (sea) has the main particularity of absorbing only hot light frequencies (red and green), while an object has not this property. Therefore if a timely vector of class features is considered, then two distinct statistical...
This work describes a new approach to the mobile robot orientation in space and its obstacle determination. The method uses color beacons placed on the environmental objects for position determination. For obstacle detection the computer vision algorithm is used. All the system functions using one single camera. Both algorithms developed are investigated under different conditions.
In this paper, we present a method of camera-based document image retrieval for heterogeneous-content documents using different types of features from different layers of information. We use two kinds of features in this paper (Locally Likely Arrangement Hashing — LLAH — and SIFT reduced dimensions using PCA). Then, a single hash table method is used for indexing these multiple kinds of feature vectors...
We present a system that measures veillance flux, the ability of a camera to see, as the flux propagates through space. By wearing a veillance-integrating device, individuals are given an accumulated dosage readout based on their presence or absence in the veillance field of various cameras. The dose readout can be used as a score for players in an image-capture gaming environment, and as a means...
Small unmanned air vehicles (UAVs) provide an economical means of imaging large areas of terrain at far lower cost than satellites. Applications range from precision agriculture to disaster response and power line maintenance. Because small UAVs fly at low altitudes of approximately 100 meters, their cameras have only a limited field of view and must take thousands of photographs to cover a reasonably...
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