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The learning of sensorimotor primitives in an open-ended manner is important to achieve all the possible tasks a robot can do, even those never experienced before. In this short paper, we propose a neural architecture called Dynamic Sensorimotor Model (DSM) (1) that learn co-variation rules between sensors and motors for sensorimotor prediction, (2) use these predictions for action planning. This...
We present in this paper an original method to estimate the pose of a monocular camera while simultaneously modeling and capturing the elastic deformation of the object to be augmented. Our method tackles a challenging problem where ambiguities between rigid motion and non-rigid deformation are present. This issue represents a major lock for the establishment of an efficient surgical augmented reality...
The KinectFusion algorithm is now used routinely to reconstruct dense 3D surfaces at real-time frame rates using a commodity depth camera. To achieve robust pose estimation, the method conducts the frame-to-model tracking during camera tracking that must inevitably accompany the memory-bound, GPU-assisted volumetric computations for the model manipulation, to which mobile processors are often more...
Augmented reality combines real footage taken of a scene with virtual elements. However, most current methods rely on camera localisation and 3D reconstruction or point cloud generation in order to integrate augmented reality to the footage. In contrast, in this work we present a novel method to augment virtual reality to the scene based on the recognition of dominant planes in interior scenes. Our...
Catenary system maintenance is an important task to the operation of a high-seed railway system. Currently, the inspection of damaged parts in the catenary system is performed manually, which is often slow and unreliable. This paper proposes a method to detect and locate the rod-insulators in the image taken from the high-speed railway catenary system. Sub-images containing bar-shaped devices such...
We address the problem of single-image geo-calibration, in which an estimate of the geographic location, viewing direction and field of view is sought for the camera that captured an image. The dominant approach to this problem is to match features of the query image, using color and texture, against a reference database of nearby ground imagery. However, this fails when such imagery is not available...
Camera calibration denotes the task of estimating the projective mapping between 3D world and the camera image plane. Most of the modern cameras have multiple image and video acquisition modes, which differ in image resolution, field of view or aspect ratio. Each mode should be treated as an independent device, and therefore independently calibrated. This straightforward solution implies the acquisition...
In this paper, we present a system to capture and animate a highly realistic avatar model of a user in real-time. The animated human model consists of a rigged 3D mesh and a texture map. The system is based on KinectV2 input which captures the skeleton of the current pose of the subject in order to animate the human shape model. An additional high-resolution RGB camera is used to capture the face...
Determining the make and model of an image's source camera is an important forensic problem. While significant research has been conducted towards developing new camera model identification algorithms, little research has focused on controlling the computational cost of these algorithms. This becomes an important issue if forensic algorithms are to be used in “big data” scenarios. In this paper, we...
A number of applications in video analysis rely on a perframe motion segmentation of the scene as key preprocessing step. Moreover, different settings in video production require extracting segmentation masks of multiple moving objects and object parts in a hierarchical fashion. In order to tackle this problem, we propose to analyze and exploit the compositional structure of scene motion to provide...
Person re-identification is the process of recognizing a person across a network of cameras with non-overlapping fields of view. In this paper we present an unsupervised multi-shot approach based on a patch-based dynamic appearance model. We use deformable graph matching for person re-identification using histograms of color and texture as features of nodes. Each graph model spans multiple images...
We propose a new denoising algorithm for camera pipelines and other photographic applications. We aim for a scheme that is (1) fast enough to be practical even for mobile devices, and (2) handles the realistic content dependent noise in real camera captures. Our scheme consists of a simple two-stage non-linear processing. We introduce a new form of boosting/blending which proves to be very effective...
Video analysis often begins with background subtraction, which consists of creation of a background model that allows distinguishing foreground pixels. Recent evaluation of background subtraction techniques demonstrated that there are still considerable challenges facing these methods. Processing per-pixel basis from the background is not only time-consuming but also can dramatically affect foreground...
Planetary rovers navigate in extreme environments for which a Global Positioning System (GPS) is unavailable, maps are restricted to relatively low resolution provided by orbital imagery, and compass information is often lacking due to weak or not existent magnetic fields. However, an accurate rover localization is particularly important to achieve the mission success by reaching the science targets,...
An indispensable pre-processing step for image-based 3D reconstruction or photogrammetry tasks is undistortion, which is employed for correcting the non-linear projection of the surface points of objects onto the image plane due to lens distortion. To deal with this undesirable artifact, state-of-the-art methods focus on directly recovering the 2D coordinates of image points from distorted images,...
Self-occlusion is a challenging problem existing in human pose estimation. In this paper we exploit a new cue to solve this problem: the torso orientation. We describe a technique to automatically detect self-occlusion in training set without visibility label. Given this prior information, we are able to jointly learn an occlusion-aware model to capture the pattern of self-occluded body parts. We...
There are a variety of medical imaging modalities available, although each modality focus into different aspects, for example: anatomical, physiological or geometrical information. This paper presents a new imaging modality (3D THERMO-SCAN) that combines anatomical computer tomography (CT) imaging slices, together with 2D infrared thermography images and 3D scanned shaped models of the area under...
Photo-realistic image synthesis using full lens model provides us with realistic lens effects, but it suffers from low rendering efficiency when many light paths are obstructed by lens stops and lens barrel. This paper proposes a novel method to generate light paths, along which rays can propagate through the lens system. As a first step, a light passage function is defined as the objective function...
This paper proposes several enhancements to the softPOSIT algorithm with applications to spacecraft pose estimation using a monocular camera. First, the proposed enhancements include a technique for reducing false matches as result of local minimum trapping. Second, this paper provides two strategies for iteration control parameter initialization by using the trace of the correspondence distance,...
An object surface extraction from a set of point clouds extracted using a Kinect V2 sensor is presented here. First several point clouds are extracted from different angles around the object. Second point clouds are registered with each other using the Iterative Closest Point algorithm. If the angle between two camera positions is large, point clouds are manually rough aligned. Then iterative closest...
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