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In this paper we present a novel algorithm for fast and robust stereo visual odometry based on feature selection and tracking (SOFT). The reduction of drift is based on careful selection of a subset of stable features and their tracking through the frames. Rotation and translation between two consecutive poses are estimated separately. The five point method is used for rotation estimation, whereas...
Digital image stabilization is an important technique including three parts: global motion estimation, motion filtering and motion compensation. To ensure the visual quality of the whole video, the accuracy of global motion estimation and smooth motion vectors over long images sequence are emphasized. In this paper, we propose a novel stabilization algorithm based on particle filtering. Firstly, Harris...
Handheld camera such as a mobile phone, action camera, and portable camcorder suffer from video instability due to unintentional shakes. This paper presents a video stabilization approach to enhance a shaky video acquired by consumer handheld camera. The proposed algorithm consists of three steps: i) generation of the binary image based on vertical class, ii) estimation of homography, and iii) frame...
A method for online identification of group of moving objects in the video is proposed in this paper. This method at each frame identifies group of tracked objects with similar local instantaneous motion pattern using spectral clustering on motion similarity graph. Then, the output of the algorithm is used to detect the event of more than two object moving together as required by PETS2015 challenge...
In the paper, the vision system for tracking of a center point of color markers with disturbance is presented. The authors have proposed the complementary filter algorithm (CF) as well as Kalman Filter (KF) to estimate a central position of the markers. To compute markers central position from marker area two different methods were used. First one is based on measurement of markers center mass. Second...
Monocular visual odometry is an active research topic for mobile robot navigation due to its availability and simpleness. However, it inherently suffers from scale ambiguity inherently, so that the precesion of odometry becomes poor. In this paper, we propose a new method to resolve scale ambiguity for monocular visual odometry based on ground area extraction and a modified adaptive kalman-filter...
We propose the use of an Extended Kalman Filter (EKF) for reliable state estimation in order to permit advanced control of the tip of a flying inverted pendulum while maintaining safety. We demonstrate the capabilities of an EKF in tandem with an accurate model to overcome bad or false data from a multiple camera motion capture system used for positioning.
The past few years have shown the growth in three-dimensional (3D) content and stereoscopic 3D displays. These displays aim to provide realism through an illusion of depth to the viewers. However, stereoscopic 3D displays are only prevalent as larger format displays like television sets and cinemas because of specialized hardware requirements. This research provides a method for users to perceive...
The goal of this paper is to develop an integrated mobile sensing system that enhances Unmanned Aerial Vehicles (UAV) to provide an autonomous means of locating and mapping damage characteristics of a structural system. The UAV brings mobility to the integrated sensor payload so that the sensors can access remote sites and collect data of structures and field features following an earthquake or a...
This work proposes a fusion of inertial measurement units (IMUs) and a visual tracking system on an embedded device. The sensor-to-sensor calibration and the pose estimation are both achieved through an unscented Kalman filter (UKF). Two approaches for a UKF-based pose estimation are presented: The first uses the estimated pose of the visual SLAM system as measurement input for the UKF; The second...
This paper proposes a human body targets tracking algorithm based on depth information under parallel binocular cameras. The key issue of pedestrian targets tracking in the parallel binocular cameras system is how to achieve the correspondence between the cameras. We get intrinsic and extrinsic parameters by camera calibration. Then, the foreground target region is got by Gaussian background difference...
Accurate and consistent ego motion estimation is a critical component of autonomous navigation. For this task, the combination of visual and inertial sensors is an inexpensive, compact, and complementary hardware suite that can be used on many types of vehicles. In this work, we compare two modern approaches to ego motion estimation: the Multi-State Constraint Kalman Filter (MSCKF) and the Sliding...
In this study, a visual guidance system concept is developed to be utilized in satellite rendezvous applications which involves estimating the location, orientation, linear and angular velocities of a target object (with a predefined shape) with respect to the main object. The visual guidance system relies on the reference markers on the target or extracted SURF feature points. Stereo Vision System...
Distributed processing is a new paradigm to analyse the huge volume of video data in camera networks. This paper addresses the problem of distributed single target tracking considering false positives and missed detections. Target tracking is modelled as a dynamic state estimation problem with nonlinear process and measurement model. We propose to use the sigma point information filters combined with...
Previous publications of our institute describe a robust vehicle tracking system for daylight conditions. This paper presents an improved vehicle tracking system which is able to detect and track the convoy leader also by twilight and night. The primary sensor equipment consists of a daytime camera, a LiDAR and an inertial navigation system. An expansion with a thermal and a lowlight camera was necessary...
It is proposed a navigation system based on the unmanned aerial vehicle (UAV) onboard camera that can land on a moving naval platform. It is considered that, besides the usual sensors, the aircraft is equipped with a RGB digital camera capable of detecting markers located on the ship's deck. The proposed method uses a framework based on a Kalman filter (KF) and an efficient perspective-n-point (EPnP)...
A non-contact method to extract human cardiac pulse rate non-invasively is more affordable and convenient compared with conventional method using contact electrode. This paper developed a video method to extract pulse rate based on smartphone. Using the front camera of smartphone to capture image frame data of human face region, defined as ROI (region of interest) for extracting PPG signal. And to...
In this paper, we introduce an Iterative Kalman Smoother (IKS) for tracking the 3D motion of a mobile device in real-time using visual and inertial measurements. In contrast to existing Extended Kalman Filter (EKF)-based approaches, smoothing can better approximate the underlying nonlinear system and measurement models by re-linearizing them. Additionally, by iteratively optimizing over all measurements...
in this paper, we propose a multi-view approach to detect and track based on graph-cut and Kalman filter algorithms to solve this problem. The first, object appears in the scene be detected as foreground in each view using a background model and background difference. Next, for related between cameras used homographic constraint. Any pixel inside the foreground object in every view will be related...
In this paper, a novel mode-driven switching state space approach is proposed for the joint tracking and recognition of gestural commands. Gestures are modeled as spatio-temporal patterns comprised of syntactic sub-units called gesturelets. These gesturelets are directional vectors modulating a switching state space model. Stochastic context-free grammars (SCFG) are used as generative models for command...
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