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Pedestrian detection is an important but challenging component of an Intelligent Transportation System. In this paper, we describe a pedestrian detection system based on a monocular vision with a Far-Infrared camera (FIR). We propose an original feature representation, called Intensity Self Similarity (ISS), adapted to pedestrian detection in FIR images. The ISS representation is based on the relative...
Grid maps are a reliable representation of the environment. Based on a generic grid map definition, this paper presents three formulations: a laser scanner based occupancy grid, a video grid based on the Inverse Perspective Mapping and a novel feature grid, where lane marking features are used. Furthermore, this contribution presents a road course estimation based on such grid maps which yields estimations...
This paper presents an implementation of a 3D reconstruction algorithm for the detection of static obstacles from a single rear view parking camera. To guarantee efficiency and accuracy of the solution, we adopted a feature-based approach in which interest points are tracked to estimate the vehicle's motion and multiview triangulation is performed to reconstruct the scene. A full implementation of...
To facilitate scene understanding and robot navigation in a modern urban area, we design a multilayer feature graph (MFG) based on two views from an on-board camera. The nodes of an MFG are features such as scale invariant feature transformation (SIFT) feature points, line segments, lines, and planes while edges of the MFG represent different geometric relationships such as adjacency, parallelism,...
The Service-Oriented (SO) paradigm has been widely adopted in the development of distributed applications in open and complex environments due to its inherent flexibility, modularity, ease of code reuse and deployment, among other properties. According to this paradigm, different functionalities are encapsulated in services, which are self-contained re-locatable software entities that can be discovered...
The goal of a fall detection system is to automatically detect cases where a human falls and may have been injured. We propose a statistical method based on Kinect depth cameras, that makes a decision based on information about how the human moved during the last few frames. Our method proposes novel features to be used for fall detection, and combines those features using a Bayesian framework. Our...
We describe an augmented reality prototype for exploring a 3D urban environment on mobile devices. Our system utilizes the location and orientation sensors on the mobile platform as well as computer vision techniques to register the live view of the device with the 3D urban data. In particular, the system recognizes the buildings in the live video, tracks the camera pose, and augments the video with...
This paper investigates how different stages in handheld Augmented Reality (AR) applications can benefit from knowing the direction of the gravity measured with inertial sensors. It presents approaches to improve the description and matching of feature points, detection and tracking of planar templates, and the visual quality of the rendering of virtual 3D objects by incorporating the gravity vector...
This paper investigates how different stages in handheld Augmented Reality (AR) applications can benefit from knowing the direction of the gravity measured with inertial sensors. It presents approaches to improve the description and matching of feature points, detection and tracking of planar templates, and the visual quality of the rendering of virtual 3D objects by incorporating the gravity vector...
Ground segmentation is critical for a mobile robot to successfully accomplish its tasks in challenging environments. In this paper, we propose a self-supervised radar-vision classification system that allows an autonomous vehicle, operating in natural terrains, to automatically construct online a visual model of the ground and perform accurate ground segmentation. The system features two main phases:...
This paper presents a critique on previous work in the field of vision aided navigation, particularly in the fusion of visual and inertial sensors for navigation. Several improvements and updates are proposed for the existent systems. GPS receivers have allowed for accurate navigation for many vehicles and robotic platforms. GPS based navigation can, however, prove to be impractical in applications...
Lidar and visual imagery have been broadly utilized in computer vision and mobile robotics applications because these sensors provide complementary information. However, in order to convert data between the local coordinate systems, we must estimate the rigid body transformation between the sensors. In this paper, we propose a robust-weighted extrinsic calibration algorithm that is implemented easily...
This work is investigating the use of a multi-modal sensor network where visual sensors such as cameras and satellite imagers, along with context information can be used to complement and enhance the usefulness of a traditional in-situ sensor network in measuring and tracking some feature of a river or coastal location. This paper focuses on our work in relation to the use of an off the shelf camera...
For small-scale Unmanned Aerial Vehicles (UAV) to operate indoor, in urban canyons or other scenarios where signals from global navigation satellite systems are denied or impaired, alternative estimation and control strategies must be applied. In this paper a system is proposed that estimates the self-motion and wind velocity by fusing information from airspeed sensors, an inertial measurement unit...
In this paper, we propose a vision-based control system for the localization of an unmanned aerial vehicle (UAV) which equips on-board cameras. The proposed approach is combined a visual odometer with inertial measurement from IMU and pressure signal which compensate attitude and altitude, respectively. For the autonomous control of a UAV, we consider only natural landmarks provided by a feature tracking...
Typically, vision-based AR systems operate on the basis of prior knowledge of the environment such as a square marker. One problem of traditional marker-based AR system has a limitation that the marker has to be located in the sensing range. Therefore, there have been considerable research efforts for the techniques known as real-time camera tracking, in which the system attempts to add unknown 3D...
In this paper, we propose a fast and accurate auto-focusing method for mobile phone cameras. The proposed method first extracts a feature vector consisting of the focus value increment ratios at the predefined lens positions. Then, the best in-focus lens position is estimated by comparing the input feature vector and the training database. Experimental results show that the proposed method is superior...
Camber is one of the most important defects in the endless hot-rolling process, and can be defined as the longitudinal curvature of a slab or strip in the plan view. To obtain a value of the camber for a steel bar, the overall shape of a slab or strip is required. However, the strip is too long to capture overall image at once. In order to obtain precise information on the overall shape of the bar,...
Three-dimensional maps are useful for many applications; from the gaming industry, to augmented reality, to the development of tour guides of important landmarks such as museums or university campuses. The generation of such maps is very labour intensive and has therefore justified its automation using robots with range sensors such as lasers or cameras. This paper presents an automated 3D reconstruction...
We have been working on detecting an object with an accelerometer from many moving objects in a camera view. Our previous method relied on knowledges of specific appearance of the moving objects such as colors, which limited the practical use. In this paper, in order to reduce this dependency on the knowledges of object appearance as much as possible, we apply our method to natural feature points...
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