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Very large format video or wide-area motion imagery (WAMI) acquired by an airborne camera sensor array is characterized by persistent observation over a large field-of-view with high spatial resolution but low frame rates (i.e. one to ten frames per second). Current WAMI sensors have sufficient coverage and resolution to track vehicles for many hours using just a single airborne platform. We have...
We propose an efficient distributed object recognition system for sensing, compression, and recognition of 3-D objects and landmarks using a network of wireless smart cameras. The foundation is based on a recent work that shows the representation of scale-invariant image features exhibit certain degree of sparsity: If a common object is observed by multiple cameras from different vantage points, the...
The paper presents an efficient and reliable approach to automatic people segmentation, tracking and counting, designed for a system with an overhead mounted (zenithal) camera. Upon the initial block-wise background subtraction, k-means clustering is used to enable the segmentation of single persons in the scene. The number of people in the scene is estimated as the maximal number of clusters with...
This paper addresses the problem of mapping images between different vision sensors. Such a mapping could be modeled as a sampling problem that has to encompass the change of geometry between the two sensors and the specific discretization of the real scene observed by the two different imaging systems. We formulate the problem in a general framework that can be cast as a minimization regularized...
The identification of image acquisition source is an important problem in digital image forensics. In this work, we focus on building a classifier to effectively distinguish between digital images taken from digital single lens reflex (DSLR) and compact cameras. Based on the architecture and the imaging features of DSLR and compact cameras, the images taken from different sources may have different...
This paper describes an object tracking system using an autonomous micro air vehicle (MAV) and demonstrate its potential use for civilian purposes. The vision-based control system relies on a color and feature based vision algorithm for target detection and tracking, Kalman filters for relative pose estimation, and a nonlinear controller for MAV stabilization and guidance. The vision algorithm relies...
In this paper, a robust and efficient approach for multicamera human tracking is presented. The approach is integrated in an experimental surveillance system, based on a camera network with a task-oriented architecture. At sensor level, image processing algorithms are applied for object detection and feature extraction. Additionally, for each object that is to be tracked, an agent-based multi-sensor...
Sensor networks utilize a large number of sensing nodes powered by on-board batteries for much improved surveillance quality. Due to the random and dense sensor deployment, when the entire target area is at k-coverage, a significant portion of it will be covered by more than k sensors. The neighbor selection scheme could find those redundant sensors and put them into the sleep mode for energy conservation...
Seam measuring of complex tight butt joint without misalignment for laser welding is a challenging problem. The allowable seam gap width and misalignment in laser welding process are less than 0.1 mm for thin sheet around 2 mm thickness. Current measuring methods or sensors can not stably and accurately extract 3D seam position and seam gap width, due to narrow seam gap and too little misalignment...
This paper describes a newly developed combined calibration method for laser scanner and monocular vision in real-time driving environment recognition system. First, a special right angled isosceles triangle calibration board was designed to calibrate the extrinsic parameters of laser scanner including mounting height and pitch, in this way the laser points can be converted into the vehicle coordinate...
In many driver assistance systems and autonomous driving applications, both LIDAR and computer vision (CV) sensors are often used to detect vehicles. LIDAR provides excellent range information to different objects. However, it is difficult to recognize these objects as vehicles from range information alone. On the other hand, computer vision imagery allows for better recognition, but does not provide...
The last decade has witnessed the establishment of image processing as a viable means of aiding underwater navigation. However, many such systems are only implemented in pre-processing and offline due to their excessive computational demands. Real-time techniques often require special purpose hardware or impose limitations on the system to obtain real-time performance at the expense of accuracy. The...
Conclusion from previous I-AUV projects and separate research in navigation and docking were consolidated to form a guideline for autonomous underwater docking. The example of docking on intervention panel was chosen to show how the standard can be expanded to improve on the key factors: navigational precision, reliability and mechanics. Particular results are shown for localization techniques to...
This paper describes a an SLAM algorithm for the navigation for an indoor autonomous mobile robot. The main emphasis of this paper is on the ability of line extraction. A recognition method based on straight line extraction is proposed for extracting the key features on the office ceiling, in an effort to estimate the pose of mobile robot. Random sample consensus (RANSAC) paradigm is used to group...
This dissertation is building towards a flexible and scalable middleware for sentient spaces wherein sensors are used to observe the state of a physical environment in real time to create awareness which, in turn, is used to build applications that bring new functionalities and/or new efficiencies to the environment. Examples of such sentient spaces could be as varied as smart buildings that use video...
In this paper, we present a multi-view single camera and a novel model of scale and illumination invariant corner detection for a service robot in indoor environment. Vision-based simultaneous localization and mapping (VSLAM) has received much attention. It is used for VSLAM that are single cameras, multiple cameras in a stereo setup or omni-directional cameras. We propose a different approach which...
This paper presents a method of integration and implementation of transmitting video and audio data from multiple Internet protocol (IP) surveillance cameras in a wireless sensor network to a centralized management unit (central node) using real time streaming protocol (RTSP). The wireless network is based on ldquostarrdquo topology by using the IEEE 802.11 series of standards in wireless local area...
This paper presents a location based active promotion technique called PLAP for mobile environment. While most of the previous location aware systems have utilized specialized sensors or artificial markers, PLAP provides real-time place recognition capability using camera which is nowadays attached to most mobile systems. An active clothes promotion system is built using PLAP and provides users the...
The knowledge of the pose and the orientation of mobile robot in its operating environment is of utmost importance for an autonomous robot. In this paper, we present a new robot localization method integrates distributed vision sensors with Monte Carlo localization (MCL) method. Firstly, an improved MCL method is used to estimates the posterior distribution of robot poses conditioned on sensor data...
Falls are a major health hazard for the elderly and a serious obstacle for independent living. Since falling causes dramatic physical-psychological consequences, development of intelligent video surveillance systems is so important due to providing safe environments. To this end, this paper proposes a novel approach for human fall detection based on combination of integrated time motion images and...
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