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A new vision-based approach to accomplish automatic detection and speed measuring of vehicles is proposed in this paper. In the proposed method, a cascade classifier, based on Haar features, is trained on frontal view of vehicles and deployed for vehicle detection. A fast and accurate foreground segmentation algorithm is proposed to distinguish moving vehicles from the background and prune detection...
For accurate error estimation, a stereo reconstruction error analysis method for spatial circle is presented. The error estimation model is proposed based on error transfer analysis. The error expressions are derived in the processes of calibration, matching and reconstruction. Then, the reconstruction error estimation model of spatial circle is established. A method of estimating the reconstruction...
Spoofing detection is essential for practical face recognition system. Based on the fact that genuine face has special geometric curvatures across surface, this paper brings forward an ultra-fast yet accurate spoofing detection approach using a low-cost stereo camera. To obtain curvatures, the three dimensional shapes of selected facial landmarks are analyzed, by fitting point cloud around each landmark...
Obstacle detection and avoidance is playing very important role in field of mobile robot navigation, space exploration and automation industries for safety of robot. In this study paper we are proposing a real time obstacle detection and avoidance algorithm using passive stereoscopic Kinect camera. The basic idea behind the obstacle detection method is to find a depth map of image captured by Kinect...
A stereo vision based road free space detection method was proposed in this paper. In the method, we firstly use semi global stereo matching to get disparity map, which then is projected to V disparity. Secondly, we use a modified Hough Transformation method to detect slope line to model road surface in V disparity map, then detect the vanishing line via road surface model and eliminate road and sky...
To solve the problem of workpiece target accurate positioning in industrial environment, we proposed a method that used object's surface point cloud which created by stereo matching of binocular vision. Firstly, found out the ROI(Region Of Interest) of the stereo matching point cloud by template matching, and used an algorithm of noise reduction to gain a clean ROI point cloud. And then, extracted...
The inspection robot is an autonomous robotic system for inspecting substation equipment to help or replace workers. In order to do the navigation and obstacle negotiating autonomously instead remote control, a stereo vision based 3D mapping system for the measurement of the environment is development. An original mapping and location system by lacer has applied on the robot for the location the robot's...
The algorithms for dense correspondences in stereo images are an extensively researched topic, since it is an essential step in a large number of applications. Despite the fact that the first stereo matching algorithms were proposed some decades ago, novel approaches regarding typical, but also cutting-edge applications, are always in demand. Stereo matching is an inverse, ill-posed problem, which...
3D Building façade reconstruction enables the implementation of delicate actions related to restoration, support and presentation of architectural structures. In particular, model complexity can be significantly reduced through the incorporation of computer vision and image processing tools, aiming towards the estimation of structural 3D feature characteristics instead of their actual GPS specification...
In this paper, a 3D scene reconstruction by using stereo vision is presented. Stereo camera parameters from the camera calibration process and disparity map are two important parameters to obtain an accurate result for the 3D reconstruction. 3D reconstruction process generates the coordinates of world points (point cloud). From the information of the point cloud, the interested object is segmented...
The trajectory tracking system of particle motion on sieve surface was designed by the combination of the analysis of image sequences based on binocular stereo vision and three-dimensional position reconstruction based on artificial neural network. Firstly, the calibration plane with uniformly distributed solid circles was placed in multiple positions within the effective field of view. The images...
This paper is dedicated to the research of head detection method based on binocular stereo vision. In the first stage, we correct the acquired images, and in the second stage calculate the target parallax in binocular vision. According to the feature of the head contour, different depth distribution of person and the scene in depth map by binocular stereo image, the relationship between head's geometric...
This paper presents a method which detects and tracks objects for navigation of a maritime surface vehicle. The method uses stereo vision system which finds saliency map, calculates disparity and distance from the stereo vision image. The method adopts frequency-tuned saliency map and finds dissimilar area in the image with the template which is found by the salient region detection. It is possible...
This work describes a physical refraction model stereo vision system calibration. A back projection and a stereo optimization are used to find the cameras axis and distances from its central point to the water tank glass. The system performs inverse triangulation, also known as mesh oriented measurements. In order to evaluate the refraction model performance, laboratory experiments were conducted...
An effective and fast face recognition method that is capable of dealing with faces under variable pose and illumination conditions has been proposed in this paper. First, the face is detected and the eyes are located automatically by the two cameras, eyes located in the two cameras are matched and the pose angle of the face is calculated. Then, the frontal face is generated according to the pose...
In this paper a distinct system for object detection and measuring distance to an object for an Unmanned Aerial Vehicle (UAV) utilizing stereo vision sensor has been proposed. The depth information which is acquired from stereo vision sensor plays a vital role in collision avoidance applications. The system uses a Hexacopter with on board webcams interfaced to a Raspberry pi board to capture video...
Real-time Stereo vision is an immerging technique inspired from human visual system that computes the disparity between correspondence points in multiple images captured from corresponding camera. High resolution images are necessary to provide good quality auto stereoscopic displays which can be used to produce stereo without the need of 3-D glasses. The aim of this paper is to calculate the disparity...
We present a novel methodology that combines stereo vision and parallel processing, based on GPU and the use of binary descriptors, for fast plane extraction. Typical stereo algorithms require an image rectification stage that has to run in a frame-to-frame basis, increasing the computational burden and with the possibility of compromising high frame rate operation. Hence, we propose to use a semi-calibrated...
When developing serious games relying on spatial placement tasks in Augmented/Virtual Reality (AR/VR), having an accurate depth perception of virtual objects is highly important. It even becomes essential when such games are used for assessment of motion disorders. Patients should be able to naturally interact with the virtual and augmented environment and to perceive the correct 3D position of objects...
Mapping an ever changing urban environment is a challenging task as we are generally interested in mapping the static scene and not the dynamic objects, such as cars and people. We propose a novel approach to the problem of dynamic object removal within stereo based scene mapping that is both independent of the underlying stereo approach in use and applicable to varying object and camera motion. By...
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