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It is essential to detect the state of EMU's component while running, since any small and subtle failure may cause major accidents in high-speed running. The traditional detection approach adopts the image matching technology, which suffers from the problem when the two images dislocation. The drawback stems from the image matching approach based on the visual features only easily affected by the...
In order to evaluate the heart function, it is valuable to detect and visualize the blood flow inside the left ventricle (LV) of the heart. In this paper, a method for flow detection in LV is proposed based on the echocardiography by using the speckle image velocimetry (SIV). It first segments the LV from the echocardiography and then conducts the SIV in the LV and estimates displacement vectors of...
Keyframe extraction for shot representation is the most common video summarization approach. Any reliable keyframe extraction algorithm should automatically detect the number of keyframes, while extracting non-repetitive keyframes that can efficiently summarize the video content. Moreover, it is important that key-frame extraction is performed in reasonable time. The proposed method is based on a...
This paper presents a multiple feature fusion method using topic model for social image visualization. Images in social media are represented from several aspects such as their visual information and tags. The proposed method extracts low-level features from social images and their tags and calculates their integrated high-level features. Specifically, the proposed method applies multilayer multimodal...
The regularity of everyday tasks enables us to reuse existing solutions for task variations. For instance, most door-handles require the same basic skill (reach, grasp, turn, pull), but small adaptations of the basic skill are required to adapt to the variations that exist (e.g. levers vs. knobs). We introduce the algorithm “Simultaneous On-line Discovery and Improvement of Robotic Skills” (SODIRS)...
Loop-closure detection, which is the ability to recognize a previously visited place, is of primary importance for robotic localization and navigation problems. We here introduce SAIL-MAP, a method for loop-closure detection based on vision only, applied to topological simultaneous localization and mapping (SLAM). Our method allows the matching of camera images using a novel saliency-based feature...
In many robotic applications, especially long-term outdoor deployments, the success or failure of feature-based image registration is largely determined by changes in lighting. This paper reports on a method to learn visual feature point descriptors that are more robust to changes in scene lighting than standard hand-designed features. We demonstrate that, by tracking feature points in time-lapse...
Visual markers are useful tools assisting visual recognition of object pose in robotic applications. But they have two fundamental problems in orientation estimation. One is degradation of orientation accuracy in frontal observation. The other is “pose ambiguity” that the orientation cannot be determined uniquely. We previously developed a novel visual marker “LentiMark” which solves the former problem...
We present an approach for object class learning using a part-based shape categorization in RGB-augmented 3D point clouds captured from cluttered indoor scenes with a Kinect-like sensor. We propose an unsupervised hierarchical learning procedure which allows to symbolically classify shape parts by different specificity levels of detailedness of their surface-structural appearance. Further, a hierarchical...
In the field of intelligent robotics, object handling by robots can be achieved by capturing not only the object concept through object categorization, but also other concepts (e.g., the movement while using the object), as well as the relationship between concepts. Moreover, capturing the concepts of places and people is also necessary to enable the robot to gain real-world understanding. In this...
We propose a discriminative and compact scene descriptor for single-view place recognition that facilitates long-term visual SLAM in familiar, semi-dynamic and partially changing environments. In contrast to popular bag-of-words scene descriptors, which rely on a library of vector quantized visual features, our proposed scene descriptor is based on a library of raw image data (such as an available...
In this paper, we present a new approach to spatially self-organize a modular artificial skin in 3D space. We were motivated by the demand to efficiently and automatically acquire the position and orientation of a steadily growing number of artificial skin sensor elements. Here, we combine our 3D surface reconstruction algorithm for individual patches of artificial skin, with a common active visual...
While capturing the real time images or videos in environmental bad conditions results the distorted or partially occlusion affected images. In this paper, a hybrid block level and pixel level based fusion process is defined to improve the video quality by regenerating the fusion images. In this work, multi-factor fuzzy block analysis is defined to identify the effective sequence block on which reconstruction...
We learn to direct visual saliency in multimodal (i.e., pointing gestures and spoken references) human-robot interaction to highlight and segment arbitrary referent objects. For this purpose, we train a conditional random field to integrate features that reflect low-level visual saliency, the likelihood of salient objects, the probability that a given pixel is pointed at, and - if available - spoken...
In this paper, we address the visual servoing problem of robot manipulators with eye-in-hand cameras. To servo-control the image position of a feature point, traditional image-based controllers require the computation of the point's position vector with respect to the camera's frame. However, when the point's location is uncertain, the stability of traditional visual servoing controllers can not be...
Interest points matching for aerial visual odometry using quadrotor MAV is tackled in this work. First, a set of sparse feature points are extracted using ORB detector. These are then grouped using Gradient Vector Flow (GVF) fields by finding points of high symmetry within the image. A robust matching strategy is introduced to improve the motion estimation. In order to validate ORB features matches,...
Quality assessment in the streaming media industry has matured to the stage that it encompasses not only traditional notions of pixel and audio sample integrity but also file format consistency and the media consumption experience itself. Audio/Video synchronisation has already been established as an associated measure of media quality and is well known in video conferencing and movie streaming applications...
Visualizing information extracted from text is helpful for intuitively understanding the information. Extracting and visualizing personal relationships from text is one of the promising applications of this approach. Existing methods usually estimate personal relationships from direct co-occurrences of personal names that appear in a text. In our previous work, we proposed a method for extracting...
In this paper, we present a real time 3D SLAM system for texture-less scenes using only the depth information provided by a low cost RGB-D sensor. The proposed registration method is based on a novel informative sampling scheme that is able to extract the points carrying the most useful information from two consecutive frames. Those points are assigned 3D feature descriptors and matched with their...
Following recent works on HRI for UAVs, we present a gesture recognition system which operates on the video stream recorded from a passive monocular camera installed on a quadcopter. While many challenges must be addressed for building a real-time vision-based gestural interface, in this paper we specifically focus on the problem of user personalization. Different users tend to perform the same gesture...
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