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In this paper, we present the design of a new camera combining both predator-like and prey-like vision features. This setup provides both a spherical RGB-view and a directional depth-view of the environment. The model and calibration of the full set-up are described. A few examples will be given to demonstrate the interest and the versatility of such camera for robotics and video surveillance at the...
The rapid development of Internet of Things and the current capabilities of high performance embedded systems have made them more attractive for the replacement of human personnel in hazardous or tedious duties. One such application is for guarding certain areas, such as the entrance of a warehouse for example. The aim of this work is to design an autonomous embedded security system for surveillance...
In many industry applications, industrial manipulators are frequently used to perform repetitive missions such as pick-and-place tasks for packing and placing objects. In general, the position information is essential when performing pick-and-place tasks. One way to obtain position information is to exploit computer vision techniques to retrieve 3D position information of objects through object images...
Stereo vision is an emerging technique requiring high quality depth computation in variety of applications in embedded and real-time systems. This system proposes implementation of cost computation information for stereo image pairs. High resolution disparity maps are needed to provide good image quality on auto stereoscopic displays that delivers stereo content without the need of 3-D glasses. Stereo...
In this paper, a method is proposed to solve the displacements and distortions, which are caused by inaccurate calibration in the low-level fusion. Compared with existing methods, the proposed method does not rely on any specified environmental feature and can be applied to a variety of scenarios. To implement it, twice clustering processes are applied to segment the input point cloud, and an iterative...
Online monitoring of weld pool and weld bead geometry has been a daunting challenge because of the harsh environment, slow processing speeds and difficulty of acquiring quality images during welding. The dimensions of the weld bead are the most fundamental requirement of a qualified weld, and monitoring the weld pool and weld bead geometry can be instrumental in ensuring the weld meets these requirements...
A visual odometry system using a stereo camera is presented for position control of an aircraft relative to its surroundings. The algorithm is validated using a common dataset and its performance is evaluated for real-time operation on-board micro-aerial vehicles. Disparity maps are generated to be used for reactive obstacle avoidance.
Tires bear the grip and friction force between a vehicle and the ground. Worn tires will result in slippage, a longer braking distance, and even flat tires, which could eventually result in a driving accident. Therefore, governments, including Taiwan, have formulated standards stipulating the appropriate tire pressure and depth of tire treads. The tire tread depth used to be determined using manual...
It is difficult to obtain high-precision thermal geometric parameters of large hot forgings online because of the harsh measurement condition, the high-temperature and large-sized targets. To solve these problems, an online measurement method for thermal geometric parameters of hot forgings based on laser-aided multi-view stereo vision is proposed in this paper. The core content of the method is to...
This paper describes and evaluates a novel 3D inspection system to detect anomalies in sewer pipes using stereo vision coupled with novel image processing algorithms. Currently, most commercial pipe inspection systems are designed with one or more Closed-circuit Television (CCTV) cameras. These systems are slow, costly and have limited accuracy (caused by human and environmental factors). More sophisticated...
Binocular stereo vision is one of the most effective ways to obtain the 3D information of the object, of which the stereo matching is the most important and difficult part. In this paper, we propose an active feature matching approach based on encoded feature patterns, which add active features to the object image through projecting Gray code light to the object. Besides, we set the constraints, propose...
Scale adapting and occlusion handling are two important issues in visual tracking, but usually tricky for many algorithms to address them efficiently. In this paper, we propose a framework for multiple-obstacle tracking in maritime scenes with the aid of depth information, which renders the vital clue for scale adapting and occlusion handling. In the proposed framework, each detected obstacle is tracked...
Stereo vision is an active research topic in computer vision. Point Grey® Bumblebee® and digital single-lens reflex camera (DSLR) are normally found in the stereo vision research, they are robust but expensive. Open source electronic prototyping platforms such as Arduino and Raspberry Pi are interesting products, which allows students or researchers to custom made inexpensive experimental equipment...
Obtaining 3D information from 2D image/video or a pair of 2D images is a way more economical and handy than that of using 3D cameras. The depth by disparity approach to obtain 3D information from a pair of 2D images called as stereo images is used in said system. Though the concept of depth by disparity is not new, the significant progress and useful applications has not been yet seen in the real...
This paper presents a data-driven method to estimate a high quality depth map of a hand from a stereoscopic camera input by introducing a novel regression framework. The method first computes disparity using a robust stereo matching technique. Then, it applies Random Forest (RF) to learn the mapping between the estimated, noisy disparity and actual depth given ground truth data. We introduce Eigen...
The novel concept of video surveillance systems based on principles of stereovision is described. Examples of existing CCTV systems, which use stereovision tools and techniques are presented. The proposed concept allows to estimate the 3D-coordinates of the objects of interest, concept based on the positioning of the fixed and pan-tilt-zoom cameras included in the surveillance system. Positioning...
Rader is essential and widely used in order to obtain information around own ship and find other ships. And GPS and Gyro sensors indicate the location and attitude of own ship but not estimate other ones. These existing systems have some problems to be adapted to practical use in scenes like an automated reaching or leaving pier, passing in a narrow line, closing to other ships. The authors propose...
This paper presents GIMME2, an embedded stereovision system, designed to be compact, power efficient, cost effective, and high performing in the area of image processing. GIMME2 features two 10 megapixel image sensors and a Xilinx Zynq, which combines FPGA-fabric with a dual-core ARM CPU on a single chip. This enables GIMME2 to process video-rate megapixel image streams at real-time, exploiting the...
Vision systems are becoming popular as a method of gathering information and stimuli from a robot's environment. The goal of this paper is to implement an underwater distance ranging system using a stereo vision system. Target tracking is based on the color of the targets. The ranging algorithm was designed so that it can range targets up to 2 meters away with a minimum accuracy of 90%. An algorithm...
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