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In this paper, we first intruded the scale invariant feature transform(SIFT) and Random Sample Consensus (RANSAC) algorithms, and then we applied the SIFT algorithm based on RANSAC to wide area target tracking by multi-camera, and the experiment proved that the algorithm perform very well in this situation. It gives more intuitive results, which is better than signal view. So it is very beneficial...
A hole filling method for scattered point set based on boundary extension and boundary convergence is presented. The algorithm fills the holes by moving the boundary points along the extension direction into the missed regions. Firstly, the boundary points are extracted from the point cloud, and the extension direction of the boundary points are calculated by their neighborhood points, and then a...
In this paper, a new visual SLAM system which incorporates the structure information of the environment is proposed. The proposed system incrementally builds the map data and extracts structure information from the map points using a clustering method. The extracted prior structure is then embedded in the system by means of a new representation of the structure together with the corresponding map...
In this paper we present a video-based traffic surveillance system which analyzes the video footage and uses the trajectories of the vehicles to detect any anomalous vehicle behavior at a traffic intersection. The trajectory analysis is done using support vector machines (SVMs). We also discuss the trajectory representation and trajectory filtering methods for increasing the accuracy of detection...
This paper presents a novel unscented Kalman filter based algorithm for vision-aided inertial navigation system (VINS). It uses dynamic model of inertial measurement unit (IMU) to perform state propagation and trifocal tensor based geometric constraints of three views to update system. Unlike the conventional methods, the positions of feature points are neither required to be augmented into system...
In this paper, we propose a novel, efficient stereo visual-odometry algorithm for ground vehicles moving in outdoor environments. To avoid the drawbacks of computationally-expensive outlier-removal steps based on random-sample schemes, we use a single-degree-of-freedom kinematic model of the vehicle to initialize an Iterative Closest Point (ICP) algorithm that is utilized to select high-quality inliers...
This paper analyzes the observability properties of the visual inertial structure from motion as the number of inertial sensors is reduced. Specifically, instead of considering the standard formulation where the inertial sensors are 3 orthogonal accelerometers and 3 orthogonal gyroscopes, the sensor system here considered only consists of a monocular camera and 1 or 2 accelerometers. This analysis...
Autonomous landing of quad rotor UAV on a maritime vessel is a challenging task, as low cost sensors, unknown movements of the landing surface, and external disturbances make it difficult to generate a relative pose estimate with sufficient accuracy for landing. In this work, we propose an architecture that avoids sensor limitations while allowing for accurate relative pose estimation, even in the...
Automatic sign language recognition is an open problem that has received a lot of attention recently, not only because of its usefulness to signers, but also due to the numerous applications a sign classifier can have. In this article, we present a new feature extraction technique for hand pose recognition using depth and intensity images captured from a Microsoft Kinect sensor. We applied our technique...
This paper presents a 100 Hz monocular position based visual servoing system to control a quadrotor flying in close proximity to vertical structures approximating a narrow, locally linear shape. Assuming the object boundaries are represented by parallel vertical lines in the image, detection and tracking is achieved using Plücker line representation and a line tracker. The visual information is fused...
Our research has been focused on developing an interaction between humans and robots to enhance an intellectual action of the service robots. From our previous research, we have constructed a model of mechanism of consciousness and behaviors, this software architecture is called Consciousness-Based Architecture (CBA). Furthermore, the robot should select the action and express the emotion by itself,...
In this paper we study pose estimation for non-central cameras, using planes. The method proposed uses non-minimal data. Using the homography matrix to represent the transformation between the world and camera coordinate systems, we describe a non-iterative algorithm for pose estimation. In addition, we propose a parameter optimization to refine the pose estimate. We evaluate the proposed solutions...
In this paper four camera pose estimation algorithms are investigated in simulations. The aim of the investigation is to show the strengths and weaknesses of these algorithms in the aircraft attitude estimation task. The work is part of a research project where a low cost UAV is developed which can be integrated into the national airspace. Two main issues are addressed with these measurements, one...
Several computer vision algorithms require a sequence of photographs taken in different illumination conditions, which has spurred development in the area of illumination multiplexing. Various techniques for optimizing the multiplexing process already exist, but are geared toward regular or high speed cameras. Such cameras are fast, but code on the order of milliseconds. In this paper we propose a...
This paper proposes a vision-based target following and landing system for a quadrotor vehicle on a moving platform. The system is consisted with vision-based landing site detection and locating algorithm using an omnidirectional lens. Latest smartphone was attached on the UAV and served as an on-board image acquisition and process unit. Measurements from the omnidirectional camera are combined with...
In a typical eye-in-hand system, a video camera is mounted on end effector of a robot arm. Visual images from the camera are then used for controlling the robot arm to accomplish its task. Since distance measurement cannot be obtained from a single image frame, many frames need to be analyzed by complex algorithms to retrieve the desired measurement. This is imperative for tasks that are critical...
Detection and tracking of people in visible-light images has been subject to extensive research in the past decades with applications ranging from surveillance to search-and-rescue. Following the growing availability of thermal cameras and the distinctive thermal signature of humans, research effort has been focusing on developing people detection and tracking methodologies applicable to this sensing...
This paper presents a novel Vision-based Nonlinear Model Predictive Control (NMPC) scheme for an under-actuated underwater robotic vehicle. In this scheme, the control loop does not close periodically, but instead a self-triggering framework decides when to provide the next control update. Between two consecutive triggering instants, the control sequence computed by the NMPC is applied to the system...
We present a real time algorithm for estimating the pose of non-planar objects on which we have placed a visual marker. It is designed to overcome the limitations of small aerial robots, such as slow CPUs, low image resolution and geometric distortions produced by wide angle lenses or viewpoint changes. The method initially registers the shape of a known marker to the contours extracted in an image...
We propose a new approach to semantic parsing, which can seamlessly integrate evidence from multiple sensors with overlapping but possibly different fields of view (FOV), account for missing data and predict semantic labels over the spatial union of sensors coverages. The existing approaches typically carry out semantic segmentation using only one modality, incorrectly interpolate measurements of...
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