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Relative localization is a core problem for swarm robotics since each swarm node must determine where neighboring robots are located to accomplish cooperative tasks such as formation control. In this paper we present a system that performs relative localization between a stationary marker and a flying robot in real-time. Relative distances are obtained using ultra-wide band radio, while a low-cost...
Accurate sensor noise propagation is critical for many computer vision and robotic applications. Several probabilistic computer vision techniques require estimates of sensor noise after it has been propagated through one or many nonlinear transformations. We investigate the unscented transform as an alternative to the standard linearisation technique for uncertainty propagation in a computer vision...
Applying computer vision for control the school of fish robots (SFR) using swarm model is a new direction. In this paper, the computer vision was studied for control a SFR using swarm model. The computer vision will return the framework and an algorithm was used to take the real position for every member. In the swarm model, every member has to solve a problem and combination together to get the target...
Video analysis is an essential process to segment and summarize sports videos automatically. In this paper, we propose fast and simple computer vision algorithms which can be employed to an event segmentation system for basketball broadcasting videos. In our approach, camera panning is estimated by the optical flow estimation and flow segmentation algorithms. For recognizing shot classes and clock...
Real-time outdoor navigation in highly dynamic environments is an crucial problem. The recent literature on real-time static SLAM don't scale up to dynamic outdoor environments. Most of these methods assume moving objects as outliers or discard the information provided by them. We propose an algorithm to jointly infer the camera trajectory and the moving object trajectory simultaneously. In this paper,...
This paper presents a real time approach to the recognition of human activity based on the interaction between people and objects in domestic settings, specifically in a kitchen. Regarding the procedure, it is based on capturing partial images where the activity takes place using a colour camera, and processing the images to recognize the present objects and their location. For object description...
Motivated by the emerging needs to improve the quality of life for the elderly and disabled individuals who rely on wheelchairs for mobility, and who might have limited or no hand functionality at all, we propose an egocentric computer vision based co-robot wheelchair to enhance their mobility without hand usage. The co-robot wheelchair is built upon a typical commercial power wheelchair. The user...
This paper presents a new approach whichbuilds 360-degree cylindrical panoramic images from multiple cameras. In order to ensure a perceptually correct result, mosaicing typically requires either a planar or near-planar scene, parallax-free camera motion between source frames, or a dense sampling of the scene. When these conditions are not satisfied, various artifacts may appear. There are many algorithms...
In this paper, we present the first multi-body non-rigid structure-from-motion (SFM) method, which simultaneously reconstructs and segments multiple objects that are undergoing non-rigid deformation over time. Under our formulation, 3D trajectories for each non-rigid object can be well approximated with a sparse affine combination of other 3D trajectories from the same object. The resultant optimization...
This work proposes a fully automated approach for vision-based quality control of manufactured metal rods. The proposed approach is able to detect the features of the rod (holes) and calculate the curvature of the object versus specifications. The proposed algorithm utilizes a single mono-ocular image. Initial results show that the proposed algorithm can operate under various camera geometric setups,...
Achieving real-time perception is critical to developing a fully autonomous system that can sense, navigate, and interact with its environment. Perception tasks such as online 3D reconstruction and mapping have been intensely studied for terrestrial robotics applications. However, characteristics of the underwater domain such as light attenuation and light scattering violate the brightness constancy...
In this paper the fusion of data from a network of security cameras and RSS fingerprint observations are combined to facilitate the simultaneous tracking of multiple persons inside indoor environments. An objective of the developed algorithm is to utilize existing building infrastructure namely the networks of security cameras and WiFi access points. Additionally minimal initial and maintenance calibration...
Stereo Match is one of the key fields in computer vision. Although many dense two-frame stereo algorithms have been developed in this domain, few utilize cross check and disparity gradient based refinement method. This paper proposes: (1) Cross check method using two generated disparity maps based on left and right original images. (2) A novel occluded and low-texture region growth method based on...
Vehicle detection method based on traffic video surveillance is a fundamental element of Intelligent Transportation System (ITS), due to its inclusive vehicle behavior data collection capabilities. In recent years, video processing have been extensively used in traffic management. From video monitoring systems, detection of vehicles can be achieved. Detection of vehicles in frames is done in most...
The exercise and rehabilitation based on computer vision system have many benefits and it has attracted the interest of researchers in the computer vision community. The researchers have kept on improving the existing methods by creating novel method or developing new algorithms in image processing and artificial intelligence. This paper presents the experiment and analysis of wrist radial and ulnar...
In this study, the implementation of monitoring system is made, aimed for home surveillance. The sensor of the system is camera. The camera will capture image of the room and will evaluate whether an intruder is detected or not, by subtracting the image with the background frame. When the intruder is detected, the system will automatically activate the alarm to alert the home occupant. In the same...
Human pose estimation is an important research topic in the field of computer vision. Pose recognition is widely used in human-computer interaction, games, security, telepresence, medical and other fields. There has been some scholars put forward many new methods on this issue. But due to the quality differences between imaging devices, complicated appearance of characters, changeable body posture,...
The paper presents a prototype for a two way peer to peer communication and advanced human computer interface (HCI). This could be in the form of a wearable ring equipped with laser, infrared and other radio capabilities that enable the human beings communicate with people and other smart devices in a much natural way. The ring ensembles two way peer to peer laser communication, NFC (Near Field Communication)...
Foreground detection is the classical computer vision task of segmenting out motion information from a particular scene. Foreground detection using Gaussian Mixture Models (GMM) is the famous choice. Since first time proposed, many researchers tried to improve GMM. This paper focuses on the comparative evaluation of three most famous improvements in the algorithm. The improved methods are compared...
Volume is an important factor to determine the external quality of a food product. The volume measurement of food product is not a simple process if it is performed manually. For alternative, several volume measurement methods for food products have been proposed using 2D and 3D computer vision. Disk method and frustum cone method have been applied in many 2D computer visions to approximate the volume...
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