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This paper presents a novel active tracking control approach for a self-propelled robotic fish with onboard vision system. Considering the image instability caused by the swaying of the fish head, a camera stabilizer for visual system is designed to obtain stable images. Meanwhile, a feedback-feedforward controller is developed to maintain the attitude of camera to the inertial frame based on two...
This paper describes a camera and hand-eye calibration methodology for integrating an active binocular robot head within a dual-arm robot. For this purpose, we derive the forward kinematic model of our active robot head and describe our methodology for calibrating and integrating our robot head. This rigid calibration provides a closed-form hand-to-eye solution. We then present an approach for updating...
Although the mobile head-mounted gaze tracker (HMGT) has gained its great success in human-machine interactions, the real implementation of HMGT still poses several significant challenges. The parallax error and the tedious calibration procedure, as two of these challenges, will be addressed in our proposed two-step calibration method. In the first step, instead of fixating at several pre-defined...
In driving support systems, it is not only necessary to detect the position of pedestrians, but also to estimate the distance between a pedestrian and the vehicle. In general approaches using monocular cameras, the upper and lower positions of each pedestrian are detected using a bounding box obtained from a pedestrian detection technique. The distance between the pedestrian and the vehicle is then...
Given a user wearing a low frame rate wearable camera during a day, this work aims to automatically detect the moments when the user gets engaged into a social interaction solely by reviewing the automatically captured photos by the worn camera. The proposed method, inspired by the sociological concept of F-formation, exploits distance and orientation of the appearing individuals -with respect to...
Understanding where people attention focuses is a challenging and extremely valuable task that can be solved using computer vision technologies. In this paper we address this problem on surveillance-like scenarios, where head and body imagery are usually low resolution. We propose a method to profile the attention of people moving in a known space. We exploit coarse gaze estimation and a novel model...
Traditional gaze tracking systems rely on explicit infrared lights and high resolution cameras to achieve high performance and robustness. These systems, however, require complex setup and thus are restricted in lab research and hard to apply in practice. In this paper, we propose to perform gaze tracking with a consumer level depth sensor (Kinect). Leveraging on Kinect's capability to obtain 3D coordinates,...
This works objective is to bring sign language closer to real time implementation on mobile platforms with a video database of Indian sign language created with a mobile front camera in selfie mode. Pre-filtering, segmentation and feature extraction on video frames creates a sign language feature space. Artificial Neural Network classifier on the sign feature space are trained with feed forward nets...
This paper proposes a method of rotation estimation of a fast spinning marker-less golf ball, which rotates up to 60 degrees in a 1-millisecond frame, from two consecutive frames of an infrared video sequence. The proposed method solely relies on the dimple pattern, which has slight irregularity in its configuration providing a clue for alignment, and does not need help of logo marks or fiducial markers...
In this paper, we describe how to establish an embedded framework for real-time top-view people counting. The development of our system consists of two parts, i.e. establishing an embedded signal processing platform and designing a people counting algorithm for the embedded system. For the hardware platform construction, we use Kinect as the camera and exploit NVIDIA Jetson TK1 board as the embedded...
3D motion data of fish school is more valuable than 2D data for behavior and other researches. This paper proposes to use a master view tracking first strategy based on a novel master-slave camera setup. On this basis, fish are firstly tracked in master view in 2D after being extracted via an eye-focused Gaussian Mixture Model (E-GMM) detector. Then 3D trajectories are reconstructed by associating...
The musculoskeletal disorder is still one of the significant concerns among all work-related injuries. A great deal of research efforts had been made in developing tools that can be used in practical working environments for real time assessment of manual workloads. To perform those evaluations, the working posture analysis is required. Recently, the RGB-D camera has been considered by researchers...
Respiration rate is a very important vital sign. Different methods of respiration rate measurement or estimation have been developed. However, especially interesting are those that enable remote and unobtrusive monitoring. In this study, we investigated the use of smart glasses for the estimation of respiration rate especially useful for indoors applications. Two methods were analyzed. The first one...
Nowadays capturing the image of eyeball with camera and estimating gaze points using pupil positions is the most common method for eye-tracking devices. Head-mounted eye-tracking equipment has a wide range of application because of its flexibility and high gaze estimation accuracy. But the user's head should keep still using a chin rest or other tools, or will lead to enormous gaze estimation errors...
Monitoring driver behavior is crucial in the design of advanced driver assistance systems (ADAS) that can detect driver actions, providing necessary warnings when not attentive to driving tasks. The visual attention of a driver is an important aspect to consider, as most driving tasks require visual resources. Previous work has investigated algorithms to detect driver visual attention by tracking...
In recent papers, the concept of an intelligent window for machine tools (iWindow) using virtual and augmented reality in order to replace traditional windows in machine tools was introduced. Such intelligent windows provide additional possibilities for observing the machine interior under difficult visibility conditions, combine and reduce the number of supporting systems and enrich the machine interior...
The article brings up the problem of tool support for the processes of learning and practical activities of surgeons using modern capabilities of information and telecommunication technologies. It discusses problems arising in the training of surgeons manipulating in the operating field of small dimensions, and similar problems of surgical care in a sparsely populated areas. The authors analyze the...
An endoscopic robot capable of assisting medical professionals in the public health sector by providing imaging and biopsy functionalities during Gastrointestinal Tract (GIT) procedures at a reduced cost, was to be designed. The endoscope was designed using soft robotic technology and to use a novel approach to provide robust and precise control over the robot. The design is separated into functional...
Robots are at the position to become our everyday companions in the near future. Still, many hurdles need to be cleared to achieve this goal. One of them is the fact that robots are still not able to perceive some important communication cues naturally used by humans, e.g. gaze. In the recent past, eye gaze in robot perception was substituted by its proxy, head orientation. Such an approach is still...
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,...
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