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A double-shot inverse-phase color fringe projection profilometry is proposed to measure 3D shape information by using two-step phase shifting. Each of these two patterns encoded with two sinusoidal patterns and one uniform intensity pattern is projected by a digital projection and recorded by a color CCD camera. Firstly, the captured color fringe patterns are separated into its RGB components and...
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...
Fast power line detection in images is useful in photogrammetry applications such as measuring wire tension and sag. To make these measurements, images of entire power line spans must be used which may include large amounts of curvature. Previous work in power line detection has focused on aerial or close proximity images where no power line curvature is visible. This paper assesses feasibility of...
Digital image processing (DIP) and computational photography are ever growing fields with new focuses on coded aperture imaging and its real world applications. Traditional coded aperture imaging systems consisted of statically coded masks that were designed and constructed from cardboard or other opaque materials and could not be altered once their shape had been defined. This is undesirable as numerous...
3D object categorization is a non-trivial task in computer vision encompassing many real-world applications. We pose the problem of categorizing 3D polygon meshes as learning appearance evolution from multi-view 2D images. Given a corpus of 3D polygon meshes, we first render the corresponding RGB and depth images from multiple viewpoints on a uniform sphere. Using rank pooling, we propose two methods...
A conventional method to inspect the varietal purity of rice seeds is based on human visual inspection where a random sample is drawn from a batch. This is a tedious, laborious, time consuming and extremely inefficient task. This paper presents an automatic rice seed inspection method using Hyperspectral imaging and machine learning, to automatically detect unwanted seeds from other varieties which...
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...
This paper proposes a novel ball tracking approach for coping with difficult situations as occlusion and fast object movement, in the context of collective sports. In particular, in the context of soccer, the ball cannot be represented by the features which are commonly utilised in the state of the art, because of the high distortion of the ball in case of fast movement, and considering the small...
We present an approach for recognizing indoor scenes in object constellations that require object search by a mobile robot, as they cannot be captured from a single viewpoint. In our approach that we call Active Scene Recognition (ASR), robots predict object poses from learnt spatial relations that they combine with their estimates about present scenes. Our models for estimating scenes and predicting...
The fast temporal-dynamics and intrinsic motion segmentation of event-based cameras are beneficial for robotic tasks that require low-latency visual tracking and control, for example a robot catching a ball. When the event-driven iCub humanoid robot grasps an object its head and torso move, inducing camera motion, and tracked objects become no longer trivially segmented amongst the mass of background...
When tracking multiple targets with autonomous cameras for 3D scene reconstruction, e.g., in sports, a significant challenge is handling the unpredictable nature of the targets' motion. Such a monitoring system must reposition according to the targets' movements and maintain satisfactory coverage of the targets. We propose an approximate, centralized approach for maximizing the visible boundary of...
The view planning problem is the problem that involves finding suitable viewpoints for vision-related tasks such as inspection or reconstruction. In this paper, we propose a novel view planning algorithm for a camera-equipped Unmanned Aerial Vehicle (UAV) acquiring visual geometric information of target objects in its surrounding environment. The proposed model-based approach makes use of iterative...
This paper is aimed at presenting a new algorithm for multi-path interference resolutions under mirror-based full 3D capture using a single correlation-based ToF camera. Our algorithm does not require additional captures or device modifications, and resolves the interference using a single ToF sensing that is also used for the 3D reconstruction as well. Evaluations with real images prove the concept...
Inferring the motion and shape of non-rigid objects from images has been widely explored by Non-Rigid Structure from Motion (NRSfM) algorithms. Despite their promising results, they often utilize additional constraints about the camera motion (e.g. temporal order) and the deformation of the object of interest, which are not always provided in real-world scenarios. This makes the application of NRSfM...
The class of objects that can be represented by surfacesof revolution (SoRs) is highly prevalent in human work andliving spaces. Due to their prevalence and convenient geometricproperties, SoRs have been employed over the pastthirty years for single-view camera calibration and pose estimation,and have been studied in terms of SoR object reconstructionand recognition.Such treatment has provided techniques...
We present a system which is able to reconstruct human faces on mobile devices with only on-device processing using the sensors which are typically built into a current commodity smart phone. Such technology can for example be used for facial authentication purposes or as a fast preview for further post-processing. Our method uses recently proposed techniques which compute depth maps by passive multi-view...
Human hand motion and shape sensing is an area of high interest in medical communities and for human interaction researchers. Measurement of small hand movements could help professionals to quantize the stage of conditions like Parkinson's Disease (PD) and Essential Tremor (ET). Similar data is also useful for designers of human interaction algorithms to infer information about hand pose and gesture...
In this paper, we present the first multi-body non-rigid structure-from-motion (SFM) method, which simultaneously reconstructs and segments multiple objects that are undergoing non-rigid deformation over time. Under our formulation, 3D trajectories for each non-rigid object can be well approximated with a sparse affine combination of other 3D trajectories from the same object. The resultant optimization...
Object shape information is essential for robot manipulation tasks, in particular for grasp planning and collision-free motion planning. But in general a complete object model is not available, in particular when dealing with unknown objects. We propose a method for completing shapes that are only partially known, which is a common situation when a robot perceives a new object only from one direction...
This paper describes the implementation of a twisting skill to a multi-DOF end effector for manipulating linear deformable objects (LDOs). When manipulating of LDOs such as rope knotting, an important factor is to control torsion. However, controlling torsion is difficult using only the robot arm movement because of the range limit of a manipulator and the danger of collision with the environment...
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