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Understanding activities of people in a monitored environment is a topic of active research, motivated by applications requiring context-awareness. Inferring future agent motion is useful not only for improving tracking accuracy, but also for planning in an interactive motion task. Despite rapid advances in the area of activity forecasting, many state-of-the-art methods are still cumbersome for use...
Due to the trade-off between spatial and angular resolution, the effective spatial resolution of a light field image is usually less than one percent of the number of pixels on the photo sensor. In this paper, we propose a prototype algorithm to upsample a light field image. Because the boundary edges of 3D objects would result in lines on epipolar plane images (EPIs), the main idea of our method...
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...
Interests on 3D object reconstruction digitizing the shape and color of an object from the real world are getting popular. 3D object reconstruction consists of various steps such as image acquisition, image refinement, point cloud generation, iterative closest points, bundle adjustment and model surface representation. Among them, iterative closest points method is critical to calculate the accurate...
Video stabilization is of fundamental importance to provide high-quality video for non-stationary camera. However, conventional video stabilization methods did not consider lens distortion because the inter-frame translation is mostly estimated under the assumption of pure geometrical transform. This paper proposes a video stabilization algorithm which models the image distortion with a division model...
This article presents a large scale and long duration experiment as part of the French FUI VipaFleet project. A driverless shuttle has been operated for three month on an industrial site, totaling nearly 1500 km of autonomous travel and 300 passengers transported. The localization relies mainly on a multi camera system and a visual SLAM algorithm. Besides the vision algorithms themselves, this article...
The research community has shown significant improvements in both vision-based detection and tracking of vehicles, working towards a high level understanding of on-road maneuvers. Behaviors of surrounding vehicles in a highway environment is found as an interesting starting point, of why this dataset is introduced along with its challenges and evaluation metrics. A vision-based multi-perspective dataset...
Localization technique is a key technology for vehicular navigation and control. The use of satellite navigation is deemed essential. Yet, satellite-based navigation system is subject to multipath effect and signal blockages in urban area. To enhance the overall navigation capability, odometry techniques have been used as dead-reckoning devices to augment satellite navigation. To account the issues...
Real-time detection of gait events play a vital role in movement dependent control applications such as rehabilitation for lower limb amputations. It also helps in determination of spatio-temporal and kinematic parameters. Gyroscopes, inertial sensors, magnetometers and foot sensors are popular in the detection of gait events. They need to be mounted carefully, or foot should be placed specifically...
The infrared camera array devices, which are important components of the air robot automatic optical navigation system, need to be calibrated for keeping the effectiveness and precision of tracking and location. We propose a brand new method for automatic calibration of infrared camera array, we focus on the rotation matrices and translation matrices between the cameras and the world coordinate. We...
This paper proposes a new approach to achieve real-time robotic control using image-based visual servoing in the presence of constraints. The proposed method deals with visibility constraints and occultation avoidance using potential fields. Our approach aims to improve the real-time performance of the visual servoing scheme. In fact, the proposed technique is more efficient in terms of computation...
Human action recognition is a way of retrieving videos emerged from Content Based Video Retrieval (CBVR).It is a growing area of research in the field of computer vision nowadays. Human action recognition has gained popularity because of its wide applicability in automatic retrieval of videos of particular action using visual features. The most common stages for action recognition includes: object...
A moving target tracking filter using images extracted from a fixed camera attached to a flying platform is proposed. The often conflicting objectives to optimally control the platform motion and to maintain a target in the field of the view of the non-gimbled camera are addressed using the estimation filter that combines a cubic spline technique with a Sigma Point Kalman Filter (SPKF). The spline...
The visually servoed trajectory tracking of quadrotors has attracted many academic researchers over the past decade, and numerous controllers are proposed for this challenging problem. The trajectory tracking controller proposed in this paper follows the Position Based Visual Servoing (PBVS) paradigm. Most of the PBVS controllers, if not all, are implemented assuming that the position of the quadrotor...
A novel approach for control and motion planning of formations of multiple unmanned micro aerial vehicles (MAVs), also referred to as unmanned aerial vehicles (UAVs) — multirotor helicopters, in cluttered GPS-denied environments is presented in this paper. The proposed method enables autonomously to design complex maneuvers of a compact MAV team in a virtual-leader-follower scheme. The feasibility...
The paper is concerned with the multi-robot leader-following problem in the presence of frequent dropouts in vision detection. In many scenarios, for instance a structured environment, it is inevitable to experience outage of vision detection due to reasons such as the target moving out of view, vision occlusion, motion blurring, etc. The paper proposes a Bayesian trajectory estimation based leader-following...
In this paper, eye tracking methodology is presented. It is a commercial camera based system for detection of eye pupil, its trajectory and classification of eye movements that led to the formation of assessed eye path. Methodology was examined on 10 subjects, who performed specified series of eye movements. Video frames were segmented and coordinates of eye pupil were found. Modified velocity threshold...
This work proposes a robust model to analyse the structure of horse races based on 2D velocity vector information. This model is capable of detecting scene breaks, classifying the view of the contenders and extracting the trajectory of the contenders throughout the race. The performance of the system is tested over six video clips from two different broadcast sources. The performance analysis shows...
This paper aims to develop a control algorithm for a unicycle type AGV (Automated Guided Vehicle) to follow a trajectory predefined by a line avoiding oscillation on its movements. At the first tests the PID controller will be applied. On some applications cameras are used to help a robot follow a track (instead of infra red sensors), determining if it should keep a forward movement or turn to any...
Given multi-view correspondences, it has been shown that 3D non-rigid structure can be recovered through factorization based techniques. However, establishing reliable correspondences across multi-view images of non-rigid structure is not an easy task. Existing methods solve multi-view correspondences and 3D non-rigid structure in sequel, which cannot exploit the crossover constraints in each sub-problem...
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