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Propose an algorithm to detect road area in front of the robot based on 2.5D range image to satisfy the robot to find passable road lies 20-80 m in front of it. The algorithm builds a 2.5D range image by calibrating ladar and camera. Then, it clusters points in single ladar frame using KNN. Geometrical and color information were used to segment the range image and then road area was abstracted. The...
In the RoboCup competition, vision system is regarded as of great importance with its high information contents, convenient implementation, and suitability for human sights of common and inexpensive hardware. In this paper, we discuss the vision system of ROBOCUP Small Size League, and introduce a digital way for segmentation of this color based robotic motion, camera calibration is also included...
In this paper, we propose a system which reconstructs the environment with both color and 3D information. We perform extrinsic calibration of a camera and a LRF (laser range finder) to fuse 3D information and color information of objects. We also formularize an equation to measure the result of the calibration. Moreover, we acquire 3D data by rotating 2D LRF with camera, and use ICP (iterative closest...
A method is presented to find the pose of the part according to the robot vision and HSV space. First the calibration of hand-eye is made and the centroid of the part is found. Then the existence of the part is judged by grey threshold and the contour of the image is realized by image division based on the HSV space of color image. The result shows that the method could satisfy the pose precision...
In criminal investigation, the color of the clothes that a suspect wore is very important information. When the suspect was imaged by a color surveillance camera, this information is available. However, if the camera was black-and-white, it is usually impossible to obtain this information. Nevertheless, if the suspect was imaged under several different illuminations, some color information can be...
We present a contribution to the digital preservation of artworks made by the Wauja and Karaja indians; both communities acknowledged for their expertise in ceramic artworks and the symbolism embedded in their art. Our goal is to enhance the texture color quality of 3D models obtained from color and depth images of a laser scanner. Although laser scanners offer high-performance regarding depth information,...
Image mosaicing method is an image-based rendering and visualization method which is a common procedure in the generation of panoramic (composite) images and applications, such as creating virtual reality, super resolution, object insertion and object removal, etc. Specifically, the image stitching approach becomes common in super resolution digital imaging microscopy, where it is required to achieve...
This paper proposes a new method of pest detection and positioning based on binocular stereo to get the location information of pest, which is used for guiding the robot to spray the pesticides automatically. The production of agricultural cultivation in greenhouse requires of big quantities of pesticides for pest control. Pesticides application is a major component of plant production costs in greenhouse,...
The research effort at Microsoft research on multimodal collaboration and human-computer interaction aims at developing tools that allow people across geographically distributed sites to interact collaboratively with immersive experience. Our prototype systems consist of cameras, displays, speakers, microphones, computer controllable lights, and/or input devices such as touch sensitive surface, stylus,...
This paper describes a novel 3 dimensional color measurement system. After the sensors and corresponding data processing board were presented, based on a calibration board with right-angled triangle outline, two calibration algorithms are presented to obtain the extrinsic parameters for sensors. One is the calibration algorithm between 2 dimensional laser range finder (2D LRF), the other is for 2D...
This paper presents a novel multi-touch interface based on binocular stereo vision, which achieves natural interactions through moving and clicking several fingers on an interface. The technology uses two cameras at different viewpoints to capture video images covering the interface in real time. We integrate skin-color information to track fingerpsilas motions. The clicking actions on the interface...
Color calibration plays an important role on applying camera arrays to those algorithms that need to fuse the images captured by different cameras. Most of the state-of-the-art calibration methods perform color calibration via a planar color checker. Its resulted color for different cameras is usually not very consistent due to the affect of environmental light. This paper proposes an omnidirectional...
A calibration algorithm between 2 dimension laser range finder (2D LRF) and platform was described in this paper for the color measurement system. A calibration board with right angle outline was designed to improve the calibration precision based online feature. The result parameters were obtained through solving the constrain equations by the correspond data between 2D LRF and the platform. The...
The robot's ability of perceiving their environments is primary functionality for a number of applications such as the rescue, navigation and manipulation. In these applications, the 3D colored map image is very useful information because it provides not only scene data but spatial data. For acquiring reliable 3D colored maps from the camera and the 3D laser scan system, one of the fundamental issues...
Ensembles of multiple (active) cameras yield an important ingredient in modern tracking and surveillance applications. They overcome the limited fields-of-view of single cameras, however, require robust procedures for handing over tracking tasks from one camera to another. In this paper a calibration-free procedure is proposed that allows for fast and reliable camera hand-over in Ambient Intelligence...
Laser scanners are popular tools for acquiring a digital model of a real object. To achieve a realistic appearance the model needs to incorporate surface colour information in addition to the geometry. The task of mapping photos onto a 3D object is often referred to as texture mapping. This paper investigates the texturing of 3D surface models obtained with a FastSCANtrade hand-held laser scanner...
Color management for digital camera is one of the key techniques in color image reproduction in computer multimedia processing. A New color management model is presented based on analyzing color rendering principle of digital camera. First, the paper takes standard color target for experimental sample and substitutes color blocks in color shade district for complete color space, which solves the difficulties...
One of the long-term goals in human-computer interaction is to utilize more intuitive and natural methods such as speech and hand gestures that a user would employ for communication. In this paper, we present a robust method of hand tracking using a probability map computed from a joint probability function derived from both depth information and skin-tone information. The depth information is provided...
Radiometric compensation has made it possible for a projector to display on ordinary surface with colors and textures. For previous methods, itpsilas necessary to calibrate both the projector and camera at first. The calibration can be time-consuming and needs to be redone once the system settings change. We present a method that simplifies the calibration process. As a result, the system is more...
The following paper evaluates a time-of-flight 3D camera with regards to its usability for RoboCup rescue. This includes an evaluation of the influence of outer conditions to the camera data, as well as its usage for automatic 3D mapping by scan registration. A color camera is calibrated with respect to the 3D camera in order to gain colored texture information for the acquired measurements.
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