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Copy-move is a simple and effective operation for creating digital image forgeries, where an area of an image is copied and pasted to a different location in that image. Generally, a forger uses some affine transformations to make the changes visually intact. Most existing copy-move detection methods are not effective when copied regions are under geometrical distortions. In this paper, a new copy-move...
Image registration is an important and fundamental problem in computer vision and image processing. Although there are currently a large number of image registration algorithms such as RANSAC and its extensions, image registration under very noisy conditions remains difficult when it cannot obtain enough number of correct corresponding points. This paper solves this issue by introducing a random resample...
Loop closure is a well-known problem in the research of laser based simultaneous localization and mapping, especially for applications in large-scale environments. The cumulative errors in the estimated pose and map make the loop detection difficult, no matter using particle filter-based or graph-based SLAM methods. Camera has the advantage of rich information but suffers from short distance and relative...
Pose estimation and 3D environment reconstruction are crucial for autonomous navigation in mobile robotics. Robust dense visual odometry based on a RGB-D sensor uses all pixels to estimate frame-to-frame motion by minimizing the photometric and geometric error. 3D coordinates of each pixel are calculated necessarily with its corresponding depth. However, depths of some pixels near object boundaries...
Robots that are capable of offering high flexibility and high capability to solve the inherent system uncertainties, unknowns, and exceptions are increasingly demanded in assembly tasks. It requires the robot to perceive, detect and locate its operating target. In this paper, we propose an object-localization method using natural features with a monocular camera. The object-localization includes three...
Aerial imagery applications have gained a great interest especially in the area of comprehensive ground activities analysis. One of the key tasks in such applications is moving objects segmentation. Although many efforts have been presented in the literature that claim high true object detection rates, they still suffer from high false positive rates. This paper focuses on maintaining a high true...
We have developed a real-time ball tracking system that can be used for volleyball games. Although a number of methods for visual object tracking have been proposed, tracking a fast-moving ball is still a challenging task because of the motion blur and the occlusion. We thus use a complementary tracking scheme in which tracking processes for multiple cameras help each other sharing the 3D position...
Robust wide baseline pose estimation is an essential step in the deployment of smart camera networks. In this work, we highlight some current limitations of conventional strategies for relative pose estimation in difficult urban scenes. Then we propose a solution which relies on an adaptive search of corresponding interest points in synchronized video streams which allows us to converge robustly towards...
Online 3D reconstruction has been an active research area for a long time. Since the release of the Microsoft Kinect Camera and publication of KinectFusion [11] attention has been drawn how to acquire dense models in real-time. In this paper we present a method to make online 3D reconstruction which increases robustness for scenes with little structure information and little texture information. It...
It is known that epipolar geometry can be computed from three epipolar line correspondences but this computation is rarely used in practice since there are no simple methods to find corresponding lines. Instead, methods for finding corresponding points are widely used. This paper proposes a similarity measure between lines that indicates whether two lines are corresponding epipolar lines and enables...
The appearance of an object depends on the color as well as the direction of a light source illuminating the object. The progress of LEDs enables us to capture the images of an object under multispectral and multidirectional light sources. Separating diffuse and specular reflection components in those images is important for preprocessing of various computer vision techniques such as photometric stereo,...
In a video surveillance system with a single static camera, tracking results of moving persons can be effectively used for camera self-calibration. However, the current methods need to depend on robustness of both tracking and segmentation procedures. RANSAC has been widely used to remove outliers in finding the vertical vanishing point and the horizon line, but the performance is degraded when the...
In this paper, we focus on studying the effects of various image operations on sensor fingerprint camera identification. It is known that artifacts in the image processing pipeline, such as pixel defects or unevenness of the responses in the CCD array as well black current noise leave telltale footprints. Nowadays, camera identification based on the analysis of these artifacts is a well established...
The scientific problem of real-time camera-based document image retrieval is achieved by computing the image features adapted to this acquisition mode i.e. the image features which are highly discriminative even under challenging conditions of camera capture as well as which are light to be computed. In this paper, we propose new extension features to our previously proposed SRIF descriptor. The new...
The task of classifying videos of natural dynamic scenes into appropriate classes has gained a lot of attention in recent years. The problem especially becomes challenging when the camera used to capture the video is dynamic. In this paper, we analyse the performance of statistical aggregation (SA) techniques on various pre-trained convolutional neural network(CNN) models to address this problem....
We propose a multiscale extension of a well-known line segment detector, LSD. We show that its multiscale nature makes it much less prone to over-segmentation, more robust to low contrast and less sensitive to noise, while keeping the parameterless advantage of LSD and still being fast. Moreover, we show that in scenes with little or no feature points, but where it is however possible to perform structure...
Person re-identification, aiming to match a specific person among non-overlapping cameras, has attracted plenty of attention in recent years. It can be regarded as a visual retrieval task, namely given a query person image, ranking all gallery images according to their similarities to the query. Conventionally, this similarity function is learnt by forcing intra-distances to be small while inter-distances...
This paper presents an effective approach for multi-task control of the underwater biomimetic vehicle-manipulator system. The main idea of this approach lies in organizing and combining the tasks by priorities, while decomposes the coupled relations among the tasks by null-space mapping consecutively avoiding interaction effects. A direct kinematic model is firstly built to describe the motions and...
Parking-management systems, including services that recognize vacant stalls, can play a valuable role in reducing traffic and energy waste in large cities. Visual methods for detecting vacant parking spots are cost-effective options since they can take advantage of the cameras already available in many parking lots. However, visual-detection methods can be fragile and not easily generalizable. In...
A blink is one of physiological signals that indicates a consciousness level or a drowsiness. Using a Doppler sensor is one solution to realize non- contact blink detection without cameras. However, it is difficult to detect blinks using a Doppler sensor because of low signal to noise power ratio (SNR) of reflected signal from an eyelid. We previously proposed the blink detection method based on machine...
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