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In this work we present a novel framework for the real-time interaction with 3D models in augmented virtual reality. Our framework incorporates view-dependent stereoscopic rendering of the reconstructed environment together with user's hands and a virtual object, and high-precision gesture recognition to manipulate it. Proposed setup consists of a Creative RGB-D camera, Oculus Rift VR head mounted...
Recently, autonomous robots have been widely used in the production field. There are several advantages to introducing industrial robots in factories. However, these robots cannot be used in unknown environments because most of them are controlled by sequence controls. Two cameras are used as vision sensors that can recognize the outside environment to solve this problem. In this study, we aim at...
Multi-frame super-resolution brings out much potential to reconstruct real high-resolution video sequences. This potential is achieved based on its capacity to combine missing information from different input low-resolution frames. Although there have been many studies in recent decades, super-resolution problems for real-world video processing still have many challenges. This is dues to two problems...
Reliable knowledge of position and orientation is a prerequisite for many applications regarding unmanned navigation, mapping, or environmental modeling. GNSS-aided inertial navigation is the preferred solution for outdoor applications with the well-known weaknesses and limitations. In order to overcome these, alternative technologies have to be investigated and developed. Therefore a stereo-vision-aided...
Depth from Defocus (DFD) is known as the technology which is able to estimate depth in the scene by a monocular camera without any additive devices. Using this advantage of DFD, we improved the speed of Auto Focus (AF). To apply DFD to AF, it is necessary to capture 2 images that have a small amount of “difference in focal positions” (we call DiFP). In this paper, we show the performance of the depth...
In this article, we address the pose estimation for planar motion under the framework of generalized camera models. We assume the knowledge of the coordinates of 3D straight lines in the world coordinate system. Pose is estimated using the images of the 3D lines. This approach does not require the determination of correspondences between pixels and 3D world points. Instead, and for each pixel, it...
We report on developments of the camera for 590 GHz radiation which has been stitched from four 12×12 antenna-coupled field-effect transistor detector (TeraFET) arrays and supplemented with parallelized low noise read-out electronics. In the current state, the read-out speed of 740 frames-per-second (fps) for a 12×12 element segment has been achieved. It is anticipated that in the final state the...
This paper reports on the design and performance of a terahertz (THz) linear camera with 50 pW/√Hz noise-equivalent power (NEP). This camera is sensitive to four bands of vertically and horizontally polarized THz radiation (0.22, 0.32, 0.42, and 0.52 THz). The heart of the camera is a diode-based focal plane array (FPA) that has a 10 nV thermal noise level and 1–2 kV/W sensitivity across the four...
Automatic recognition of handwritten texts in video lectures has important applications. In video lectures, the presenter usually writes on white / colored board. The video camera often captures the writing board along with certain other objects possibly including the presenter itself. Recognition of handwritten texts from such a video frame requires prior detection of the region of texts in the frame...
This paper discusses the problem of planning well conditioned trajectories for learning a class of nonlinear models such as the imaging model of a camera and the multibody dynamic model of a robot. In such model learning problems, the model parameters can be linearly decoupled from system variables in the feature space. The learning accuracy and robustness against measurement noise and unmodeled response...
Camera calibration constitutes a basic problem in many robot applications. In this paper two algorithms tailored to the calibration of the parameters of a depth camera are proposed. More precisely, a closed form solution that requires the coordinates of three corresponding points in the world and the camera coordinates systems, for the noise free case is proposed. Moreover, a robust algorithm that...
Due to evolution of prevalent sophisticated digital video editing software it has become easier to forge any video. Copy-Move forgery is a special kind of video forgery technique, in which copy-move of the frame region is performed in intra frame or inter frames. This copy-move introduces a special kind of relationship between the original frame segment and the pasted one, which provides clue for...
In this paper, we propose an advanced way of reducing depth noise for time-of-flight (ToF) camera. Most of depth denoising method uses a filter with fixed parameter or sets parameter considering one factor: amplitude or distance. However, the depth noise is dependent on both amplitude and distance value. Thus, the characteristic of depth noise should consider two factors simultaneously: distance and...
Traditionally, fish stock assessment is a time-consuming, expensive, and invasive task, since fish are caught and counted using research vessels. Therefore, in a joint project a non-invasive, acoustic-optical Underwater Fish Observatory (UFO) is proposed and developed. The UFO counts and classifies fish utilizing a stereo camera system and a sonar system in order to observe the available biomass....
We previously proposed the artificial fiber (AF) patterns in order to be able to hide information in printed documents. AF pattern uses the features of the medium (e.g., paper). It has features of rotational invariance, low visibility of the hidden information. But it still suffered extraction threshold instability when using a camera to extract the information. This problem has now been overcome...
The work described in this paper focuses on the design of a low cost, hand held acoustic camera. The novel process of creating the camera has been entirely engineered in ABB Ltd. Even though the creation of the acoustic camera with the use of 3D printing techniques may come at the cost of slightly decreased accuracy of the measurements, when compared with the commercially available solutions, however...
Camera calibration is an important issue in computer vision. In this paper, we propose an improved camera auto-calibration algorithm from sequential images based on VP (vanishing point) and EKF (extended Kalman filter) to determine camera intrinsic parameters. This is the first vanishing point-based auto-calibration algorithm, which only uses a sequence of monocular images as input without any other...
In this paper, we investigate the performance of KinectFusion algorithm for 3D reconstruction using a Kinect sensor. A sensor model is applied to generate depth image to evaluate accuracy of the algorithm. To obtain ground truth of depth image as well as camera pose, we generate depth data based on a CAD model in a simulation program. In the error analysis, deferent types of noise, including depth...
This work tackles the challenging problem of multi-shot person re-identification in realistic unconstrained scenarios. While most previous research within re-identification field is based on single-shot mode due to the constraint of scales of conventional datasets, multi-shot case provides a more natural way for person recognition in surveillance systems. Multiple frames can be easily captured in...
Background subtraction is a popular technique used in accurate foreground extraction with a stationary background. Since most outdoor surveillance videos are taken in complex environments, their "stationary" backgrounds change in some unknown patterns, which make the perfect foreground extraction very difficult. Based on visual background extractor (ViBe) scheme, in this paper we propose...
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