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At disaster sites, the use of Micro Unmanned Aerial Vehicles (MUAVs) is expected for human safety. One application is to support first-phase emergency restoration work conducted by teleoperated construction machines. To extend the operation time of a MUAV, the authors proposed a powerfeeding tethered MUAV to provide an overhead view of the site to operators. The target application is to be used outdoors,...
Traversable region estimation is the fundamental enabler in autonomous navigation. In this paper, we propose a traversable region segmentation algorithm using stereo vision. We address this problem mainly in road scenes for the goal of autonomous driving. Using only geometry information, our approach has the advantages of effectiveness and robustness. The proposed approach is based on a cascaded framework...
A vast majority of consumer cameras operate the rolling shutter mechanism, which often produces distorted images due to inter-row delay while capturing an image. Recent methods for monocular rolling shutter compensation utilize blur kernel, straightness of line segments, as well as angle and length preservation. However, they do not incorporate scene geometry explicitly for rolling shutter correction,...
Stereo matching is important in the area of computer vision and photogrammetry. We present a stereo matching algorithm to refine depth map by using stereo image pair. The reference image is segmented by using hill-climbing algorithm and Scale Invariant Feature Transform (SIFT) feature descriptor with Sum of Absolute Difference (SAD) local stereo matching is performed. Next, we extract a set of disparity...
With the development of unmanned aerial vehicles (UAVs) and the relevant techniques, UAVs become common and popular for civilian applications such as remote sensing tasks. The reason is because they are cheap, flexible, and easy to set up. Car park occupancy analysis is important for authorities to make decisions on the design, plan and management of car parks. To have a quick knowledge of current...
To obtain depth information from a stereo camera setup, a common way is to conduct disparity estimation between the two views; the disparity map thus generated may then also be used to synthesize arbitrary intermediate views. A straightforward approach to disparity estimation is block matching, which performs well with perspective data. When dealing with non-perspective imagery such as obtained from...
This paper proposes an algorithm to determine the distance between vehicles for a Intelligent Transport System (ITS) using image sensor based visible light communication. Compared to existing algorithms, the proposed algorithm uses two image sensors and thus requires only one LED for distance estimation. Simulations are conducted to verify the performance of the proposed algorithm.
Light field cameras can capture the 3D information in a scene with a single exposure. This special feature makes light field cameras very appealing for a variety of applications: from post capture refocus, to depth estimation and image-based rendering. However, light field cameras exhibit a very limited spatial resolution, which should therefore be increased by computational methods. Off-the-shelf...
In this paper, we propose a novel method to estimate the posture of the human body in a network of depth sensors. We divide the body into two regions and take a limited number of selective samples from point cloud of human body. The sample points are utilized to compute 2D gradient and the histograms of the gradient of sample points along two different scan directions. These extracted values are then...
Accurate hand-eye calibration is a very significant task in robotics. Many algorithms focus on L optimization, and Least Square Estimation (LSE) is usually employed to deal with this problem. For the reason that LSE can only be applied to occasions that errors obey normal distribution, LSE can lead to a lower precision of calibration result when gross errors occur. Different from the existing approaches,...
An inertial-aided visual servo control approach for fully-actuated Autonomous Underwater Vehicles (AUVs) without relying on linear velocity measurements is proposed. The homography obtained from corresponding images of a locally planar scene is directly exploited as feedback information. A cascade inner-outer loop control architecture is adopted that facilitates both control implementation and gain...
This paper proposes a moving object detection algorithm which can handle videos taken by a moving camera in the presence of pronounced parallax. The paper considers the idea that objects in a image can be considered to be spatially distributed across multiple planes, the movement of each of which can be estimated using a Visual Odometry (VO) algorithm. For each plane, a Homography matrix between consecutive...
This paper proposes a method that realizes moving object detection (MOD) and static obstacle detection (SOD) in real time utilizing the fisheye cameras of the around viewing system (AVM). The topview of the AVM is used to calculate the vehicles movement between two frames using homograph estimation. Image features are detected and tracked evenly using cell detection technique. Then the features are...
Live-feeling communication is a seamless process of intelligent system estimating user intention solely on passive user-to-robot communication of user emotions and body movements. In this paper we study the live-feeling communication in an entertainment framework; a real-time streaming event (football) is split into set of important and relevant scenes, and for each scene the user intention is estimated...
This paper presents a gaze estimation algorithm using 3-D eyeball model and 2-D pupil center — inner eye corner(PC-IEC) vector. The conventional methods using feature points in the eye images need lots of calibration markers and long calibration time. However, since the pupil and gaze movements are closely related to the 3-D rotation of eyeball, the long and complicated calibrations are not necessary...
Human body estimation is one of the active research fields in computer vision. It is widely used in human-computer interaction, pattern recognition, intelligent monitoring system and human behavior detection. A single depth camera has a limited range of observations thus can only estimate the human joint position which is in its field of view. To track human motion in a large area, a camera network...
While recovery of hyperspectral signals from natural RGB images has been a recent subject of exploration, little to no consideration has been given to the camera response profiles used in the recovery process. In this paper we demonstrate that optimal selection of camera response filters may improve hyperspectral estimation accuracy by over 33%, emphasizing the importance of considering and selecting...
Parsing urban scene images benefits many applications, especially self-driving. Most of the current solutions employ generic image parsing models that treat all scales and locations in the images equally and do not consider the geometry property of car-captured urban scene images. Thus, they suffer from heterogeneous object scales caused by perspective projection of cameras on actual scenes and inevitably...
This paper addresses the problem of defocus map estimation from a single image. We present a fast yet effective approach to estimate the spatially varying amounts of defocus blur at edge locations, which is based on the maximum ranks of the corresponding local patches with different orientations in gradient domain. Such an approach is motivated by the theoretical analysis which reveals the connection...
We propose the use of a light-weight setup consisting of a collocated camera and light source – commonly found on mobile devices – to reconstruct surface normals and spatially-varying BRDFs of near-planar material samples. A collocated setup provides only a 1-D “univariate” sampling of a 3-D isotropic BRDF. We show that a univariate sampling is sufficient to estimate parameters of commonly used analytical...
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