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Removing undesired reflections from a photo taken in front of a glass is of great importance for enhancing the efficiency of visual computing systems. Various approaches have been proposed and shown to be visually plausible on small datasets collected by their authors. A quantitative comparison of existing approaches using the same dataset has never been conducted due to the lack of suitable benchmark...
In this paper we describe the 3D acquisition component integrated in the Sound of Vision (SoV) system. SoV is a computer vision based sensory substitution device (SSD) for the visually impaired. Its main objective is to provide the users with a 3D representation of the environment around them, conveyed by means of the hearing and tactile senses. One of the biggest challenges for the SoV system is...
Direct method for visual odometry has gained popularity, it needs not to compute feature descriptor and uses the actual values of camera sensors directly. Hence, it is very fast. However, its accuracy and consistency are not satisfactory. Based on these considerations, we propose a tightly-coupled, optimization-based method to fuse inertial measurement unit (IMU) and visual measurement, in which uses...
This paper presents a visual servoing approach for robotic teleoperation using a tethered unmanned aerial vehicle (UAV). When teleoperating a robot, human operator's perception of the remote situation is limited by the robot's onboard camera. This deteriorates situational awareness and poses challenges on operation precision and efficiency. Tele- operated visual assistants are used in practice. For...
In today's conditions, parents have to work for home economics. For this reason, it is not always possible for parents to meet their children's needs, to protect them from dangers and to help them. Parents agree with a fee-paying caregiver to ensure that their children's needs are provided. Looking after a child by a caregiver can create a variety of security problems for the mother and the father...
This paper proposes a method for visual pose stabilization of Fotokite, a tethered small unmanned aerial system, using a forward facing monocular camera. Conventionally, Fotokite stabilizes itself only relative to its tether and not relative to the global frame. It is, therefore, susceptible to environmental disturbances (especially wind) or motion of its ground station. Related work proposed visual...
Mixed Reality aims at combining virtual reality with the user's surrounding real environment in a way that they form one, coherent reality. A coherent visual quality is of utmost importance, expressed in measures of e.g. resolution, framerate, and latency for both the real and the virtual domains. For years, researchers have focused on maximizing the quality of the virtual visualization mimicking...
Mobile phones equipped with a monocular camera and an inertial measurement unit (IMU) are ideal platforms for augmented reality (AR) applications, but the lack of direct metric distance measurement and the existence of aggressive motions pose significant challenges on the localization of the AR device. In this work, we propose a tightly-coupled, optimization-based, monocular visual-inertial state...
Augmenting video conference with additional visual cues has been studied to improve remote collaboration. A common setup is a person wearing a head-mounted display (HMD) and camera sharing her view of the workspace with a remote collaborator and getting assistance on a real-world task. While this configuration has been extensively studied, there has been little research on how sharing gaze cues might...
At disaster sites, the use of Micro Unmanned Aerial Vehicles (MUAVs) is expected for human safety. One application is to support first-phase emergency restoration work conducted by teleoperated construction machines. To extend the operation time of a MUAV, the authors proposed a powerfeeding tethered MUAV to provide an overhead view of the site to operators. The target application is to be used outdoors,...
Augmented Reality (AR) technology is often used for arrangement simulation such as furniture before purchasing. This study focuses on the simulation of product layout in stores and exhibits in museums with show-window. Displaying the virtual information with correct position against real objects is important for realistic experience in AR applications. In this study, we keep the consistency between...
This paper presents the simulation of path following by an autonomous omnidirectional mobile robot with an onboard monocular camera. The control of the mobile robot for performing the aforementioned task is done with a 2D visual servoing by considering point features. Artificial landmarks are supposed to be placed in the robot's navigation environment. We performed this simulation in two ways. In...
In this paper, we propose a system to measure the crowdedness of a specific area using CCTV images. In the proposed system, objects are distinguished by using the Visual Background Extractor (ViBe) algorithm. The background that has not been removed by the ViBe is excluded from the object area using the opening technique. Then, the object area assigned to different weights based on the pixel positions...
The Mapillary Vistas Dataset is a novel, large-scale street-level image dataset containing 25000 high-resolution images annotated into 66 object categories with additional, instance-specific labels for 37 classes. Annotation is performed in a dense and fine-grained style by using polygons for delineating individual objects. Our dataset is 5× larger than the total amount of fine annotations for Cityscapes...
Camera-enabled sensors deployed for visual monitoring will cover a region of the target field, providing information for many innovative applications based on wireless sensing. Actually, some areas of the monitored field may have more relevance than others, according to the characteristics of the applications, which may indicate that such areas need better coverage to avoid blind spots and achieve...
To obtain depth information from a stereo camera setup, a common way is to conduct disparity estimation between the two views; the disparity map thus generated may then also be used to synthesize arbitrary intermediate views. A straightforward approach to disparity estimation is block matching, which performs well with perspective data. When dealing with non-perspective imagery such as obtained from...
In this paper, we present a tracking system to estimate the position of a surgical instrument used in minimally invasive spine surgeries for training. The purpose of our system is to get the information about movements and surgeons skills during the training. The system uses four infrared markers embedded on the surgical instrument of common used. At least two Wii Remote Control is needed for calculating...
In this paper, we study vision-based localization for robots. We anticipate that numerous mobile robots will serve or interact with humans in indoor scenarios such as healthcare, entertainment, and public service. Such scenarios entail accurate and scalable indoor visual robot localization, the subject of this work. Most existing vision-based localization approaches suffer from low localization accuracy...
This paper is concerned with the stability for visual servo inverted pendulum system with variable image processing time delay. Firstly, the image processing time delay is inevitably introduced in visual servo inverted pendulum system due to the visual feedback, where its upper and lower bounds are obtained via the statistics analysis on time delay data. Specially, a Markov chain is then employed...
Monocular ORB-SLAM has been proved to be one of the best open-source SLAM method. However, it is still unsatisfying especially in low illumination indoor environment, which is caused by scale recovery and wrong feature matching. In this paper, we proposed a vehicle model based monocular ORBSLAM method supplemented by April-Tag to improve the performance of original algorithm. This approach is practical...
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