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Computational video multi-camera systems allow novel applications such as stereo-vision and view interpolation. The computational- as well as communication and storage requirements for real-time multi-camera video are huge. High quality stereo- and view interpolation applications require the accurate combination of detailed image features in two or more cameras. The use of lossy video compression...
In this paper, we proposed real-time FPGA-based rectification algorithm implementation combined with stereo camera. Rectification is a necessary pre-required step for stereo matching to align left and right images, including correction of radial distortion. In our experiment, we implemented rectification module in the FPGA combined with stereo camera to verify in video circumstance. As a result, rectification...
Perception of the environment in 3D has always been an important sensory input for machine vision applications. Stereo vision range sensors have been used for several decades to obtain 3D information of the scene. Still, the major issue involved in the stereo analysis of images is the correspondence problem. In this paper we consider the correspondence problem only for point clouds. The algorithm...
Multi-dimension robot vision in autonomous humanoid robot is still an open issue as it performs less effective when dealing with different environments. Robot vision becomes more challenging as image quality degrades. Unlike human vision, current robot vision is yet to calibrate automatically when image quality changes abruptly. This may result in poor accuracy due to false negative input data points,...
This article addresses the visual servoing of a rigid robotic manipulator under fixed camera configuration. A tool is mounted on the end-effector of a robot which can be controlled by automatic visual feedback. The control goal is to drive the tip of the tool to follow a visually determined three dimensional target trajectory by using a two-camera vision system without assuming any pointwise correspondence...
This work presents a low-cost stereo vision system aimed to the real-time detection of generic obstacles (without constraints on symmetry or shape) on the path of a mobile road vehicle. Thanks to a geometrical transform the perspective effect is removed from both left and right stereo images. The difference between the results is used for the detection of free-space in front of the vehicle. The output...
In this paper, we propose a robust obstacle detection approach by leveraging Weighted Hough Transform (WHT) in combination with temporal information correlation from the stereo video sequences. First, to model the road surface or obstacles in the video, rather than using simple threshold from binarized frame sequence, we propose to adopt WHT to extract the linear relation from the v-disparity map...
Stereo vision algorithms are usually designed to run on standard PCs or PC-based systems. Up to now and due to the limited resources (e.g. internal and external RAM size, CPU power, power consumption, etc.) no general embedded hardware exists, where different algorithms can be implemented and run properly. The presented test platform aims to close this gap and implement a convenient platform for the...
A novel algorithm for head-tracking based on stereo is presented in this paper. Employing stereo vision makes the tracker robust to many factors such as clutter, color and lighting variations, that affect contemporary head trackers. The head is modeled as an ellipse and tracking is performed on the foreground obtained by modeling depth. This is facilitated by using stereo vision. Further, we present...
Sub pixel interpolation of stereo disparity is essential to achieve adequate range resolution for many applications, especially in autonomous navigation. Sub pixel interpolation is plagued by systematic biases caused by pixel-locking, foreshortening, and scaling phenomena. Prior work on this problem has produced partial solutions or solutions that are undesirably slow for real-time applications. We...
In this work, we propose an efficient multiview rendering algorithm that takes uncalibrated stereo as the input. First, the epipolar geometry of multiple viewpoints is analyzed for multiview display. Then, the camera pose for an arbitrarily selected viewpoint is estimated by algebraic approximation. Finally, by exploiting rectification homographies and disparities of rectified stereo, one can determine...
Optical sensor-based health care systems have to be both cost-efficient and easily integrable into a domestic environment. Consequently, the reduction of the overall number of necessary sensors is a crucial issue. We present an optical system employing a single omnidirectional stereo sensor for human behavior analysis in complex living environments.
In this paper, the authors describe on an omnidirectional 3D measurement using double fish-eye stereo vision. This vision system consists of two stereo visions which are back to back each other. In the method, the image from the fish-eye vision is transformed into panoramic image and a parallax is detected by simple template matching to the transformed image. Using the method, three dimensional measurement...
People tracking is a crucial component of many intelligent video surveillance systems and recent developments in embedded computing architectures and algorithms allow us to design compact, lightweight and energy efficient systems aimed at tackling this problem. In particular, the advent of cheap RGBD sensing devices enables to exploit depth information as additional cue. In this paper we propose a...
Stereo Vision has created an impact on research in the area of computer vision system. It has many applications like 3D scene reconstruction, mobile robotics to detect obstacles, surgical robotics, etc. This paper focuses on various region based algorithms for stereo vision. They are used for generating disparity map. This disparity map is used to find out the distance of the objects in the images...
The visually impaired people lack visual information to realize the obstructions and obstacles in their path thus making it difficult for them to perform their day-to-day tasks comfortably and efficiently. Digital assistance techniques have proven to be a boon for these visually challenged sections of the society. Detection of an obstacle free-path for an easier and smooth navigation of visually impaired...
In final approach of rendezvous between a space robot and a non-cooperative target, due to the light and the folds of heat cladding materials on the target surface, the edge of target cannot be accurately extracted by classic Canny algorithm and we are unable to complete measurement of relative position and attitude. To solve this problem, the measurement method of relative position and attitude between...
Vision systems provide a large functional spectrum for perception applications and, in recent years, they have demonstrated to be essential in the development of Advanced Driver Assistance Systems (ADAS) and Autonomous Vehicles. In this context, this paper presents an on-road objects detection approach improved by our previous work in defining the traffic area and new strategy in obstacle extraction...
In this paper, we describe a portable Omnidirectional Vision System for Environment Perception (OVSEP) with 5 Degrees of Freedom (DOFs). OVSEP has a modular design and it is equipped with three main components: hardware, control architecture and visual processing part (omnidirectional vision and stereovision). A face detection algorithm and a method for 3D reconstruction have been used to evaluate...
This paper proposed a visual control method with a relative position measurement model of stereo vision fixed in the work space for the approach movements of 7-DOF redundant manipulator. The relative position between the end-effectors' endpoint and object will be solved in real-time by the measurement model of stereo vision, then using position-based visual servo method, the endpoint position will...
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