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Topological mapping from image sequences

Topological mapping from image sequences

引用

2005 IEEE computer Society conference on computer vision and pattern recognition, CVPR 2005 - workshops

作者： Mulligan, Jane Grudic, Greg Department of Computer Science University of Colorado at Boulder BoulderCO80309 United States

ISBN: (纸本)0769526608

An autonomous agent should be able to traverse a new environment and construct a topological representation of what it has seen. We present two new semi-supervised learning techniques which allow us to segment extended sensor (image) sequences into a topological map by clustering on low-dimensional manifolds in sensor space. The general approach is based on outlier detection in manifold space, closely related to spectral clustering. The first technique fixes the σ parameter of the affinity matrix, the second allows each cluster to optimize for a different σ. In both cases manifold clusters can be associated with the user's conceptual map by labelling one image per cluster. We demonstrate these techniques for indoor and outdoor sequences. © 2005 IEEE computer Society. All rights reserved.

关键词： Autonomous agents

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Evaluation of 3D face recognition in the presence of facial expressions: An annotated deformable model approach

Evaluation of 3D face recognition in the presence of facial ...

引用

2005 IEEE computer Society conference on computer vision and pattern recognition, CVPR 2005 - workshops

作者： Passalis, G. Kakadiaris, I.A. Theoharis, T. Toderici, G. Murtuza, N. Visual Computing Lab Dept. of Computer Science Univ. of Houston HoustonTX77204 United States

ISBN: (纸本)0769526608

From a user's perspective, face recognition is one of the most desirable biometrics, due to its non-intrusive nature;however, variables such as face expression tend to severely affect recognition rates. We have applied to this problem our previous work on elastically adaptive deformable models to obtain parametric representations of the geometry of selected localized face areas using an annotated face model. We then use wavelet analysis to extract a compact biometric signature, thus allowing us to perform rapid comparisons on either a global or a per area basis. To evaluate the performance of our algorithm, we have conducted experiments using data from the Face recognition Grand Challenge data corpus, the largest and most established data corpus for face recognition currently available. Our results indicate that our algorithm exhibits high levels of accuracy and robustness, and is not gender biased. In addition, it is minimally affected by facial expressions. © 2005 IEEE computer Society. All rights reserved.

关键词： Face recognition

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Error-metrics for camera ego-motion Estimation

Error-metrics for camera ego-motion Estimation

引用

2005 IEEE computer Society conference on computer vision and pattern recognition, CVPR 2005 - workshops

作者： Zhu, Juhua Zhu, Ying Ramesh, Visvanathan Electrical Engineering Department Princeton University Real-Time Vision and Modeling Siemens Corporate Research Inc

ISBN: (纸本)0769526608

This paper presents a scheme of camera ego-motion estimation through locating the focus of expansion (FOE). We showed that the bilinear constraint [2] leads to a suboptimal solution of motion parameters in the sense that it does not correspond to maximum likelihood estimate. The contribution of the paper is that we study different error metrics, evaluate the metrics, and propose to use two normalized error metrics under dependent and independent noise model, respectively. They are demonstrated to be optimal in the sense of maximum likelihood. In addition, based on the bilinear nature of the objective functions, we propose to use some specific optimization algorithms to achieve efficient and accurate convergence. Robust estimation problem is also addressed to handle outliers caused by independent motions. Promising results have been obtained in experiments. The estimated motion parameters can be used to detect various independently moving objects on the road. © 2005 IEEE computer Society. All rights reserved.

关键词： Cameras

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A review on vision-based full DOF hand motion estimation

A review on vision-based full DOF hand motion estimation

引用

2005 IEEE computer Society conference on computer vision and pattern recognition, CVPR 2005 - workshops

作者： Erol, Ali Bebis, George Nicolescu, Mircea Boyle, Richard D. Twombly, Xander Computer Vision Laboratory University of Nevada RenoNV89557 United States BioVis Laboratory NASA Ames Research Center Moffett FieldCA94035 United States

ISBN: (纸本)0769526608

Direct use of the hand as an input device is an attractive method for providing natural human-computer interaction (HCI). Currently, the only technology that satisfies the advanced requirements of hand-based input for HCI is glove-based sensing. This technology, however, has several drawbacks including that it hinders the ease and naturalness with which the user can interact with the computer controlled environment, and it requires long calibration and setup procedures. computer vision has the potential to provide much more natural, non-contact solutions. As a result, there have been considerable research efforts to use the hand as an input device for HCI. A very challenging problem in this context, which is the focus of this review, is recovering the 3D pose of the hand and the fingers as glove-based devices do. This paper presents a brief literature review on full degree-of-freedom (DOF) hand motion estimation methods. © 2005 IEEE computer Society. All rights reserved.

关键词： Motion estimation

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A second generation low cost embedded color vision system

A second generation low cost embedded color vision system

引用

2005 IEEE computer Society conference on computer vision and pattern recognition, CVPR 2005 - workshops

作者： Rowe, Anthony Rosenberg, Charles Nourbakhsh, Illah Electrical and Computer Engineering Carnegie Mellon University PittsburghPA15213 United States Google Inc. Mountain ViewCA94043 United States Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

ISBN: (纸本)0769526608

In this paper we describe a low cost embedded vision system, the CMUcam2. The CMUcam2 is the second generation of the CMUcam system and attempts to overcome the shortcomings of the original system as well as improve upon and add to its functionality. The goal of the system is to provide simple vision capabilities to small embedded systems in the form of an intelligent sensor. The system utilizes a low cost CMOS color camera module, a frame buffer chip and all image data is processed by a low cost microcontroller. The system includes the original functionality of color blob tracking, but improves upon it with tracking speeds of up to 50 frames per second. New functionality includes frame differencing, edge detection, and color histogramming. Other improvements were also made to facilitate communication with slower speed processors, as is often the case in a variety of robotics applications, including miniature robotics, hobby robotics and aerial robots. © 2005 IEEE computer Society. All rights reserved.

关键词： Robotics

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Performance evaluation of face recognition using visual and thermal imagery with advanced correlation filters

Performance evaluation of face recognition using visual and ...

引用

2005 IEEE computer Society conference on computer vision and pattern recognition, CVPR 2005 - workshops

作者： Heo, Jingu Savvides, Marios Vijayakumar, B.V.K. Department of Electrical and Computer Engineering Carnegie Mellon University United States

ISBN: (纸本)0769526608

This paper presents the face recognition performance evaluation using visual and thermal infrared (IR) face images with correlation filter methods. New correlation filter designs have shown to be distortion invariant and the advantages of using thermal IR images are due to their invariance to visible illumination variations. A combined use of thermal IR image data and correlation filters makes a viable means for improving the performance of face recognition techniques, especially beyond visual spectrum. Subset of Equinox databases are used for the performance evaluation. Among various advanced correlation filters, minimum average correlation energy (MACE) filters and optimum trade-off synthetic discriminant function (OTSDF) filters are used in our experiments. We show that correlation filters perform well when the size of face is of significantly low resolution (e.g. 20x20 pixels). Performing robust face recognition using low resolution images has many applications including performing human identification at a distance (HID). The eyeglass detection and removal in thermal images are processed to increase the performance in thermal face recognition. We show that we can outperform commercial face recognition algorithms such as FaceIt® based on Local Feature Analysis (LFA). © 2005 IEEE computer Society. All rights reserved.

关键词： Face recognition

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Big little icons

Big little icons

引用

2005 IEEE computer Society conference on computer vision and pattern recognition, CVPR 2005 - workshops

作者： Rabaud, Vincent Belongie, Serge Department of Computer Science and Engineering University of California San Diego United States

ISBN: (纸本)0769526608

computer icons are small artificial images designed to be perceived with minimal ambiguity by the human visual system. In order to make them easier to perceive by visually impaired people, we propose a solution to the superresolution problem for color bitmap icons in a manner that exploits the unique characteristics of this medium versus that of generic low resolution natural imagery. We propose an MRF-based solution that incorporates local models of luminance and color perception which lays the basis for a snake-based vectorization of the icon and demonstrates encouraging performance on a diverse set of icons. © 2005 IEEE computer Society. All rights reserved.

关键词： Color vision

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Automatic sign detection and recognition in natural scenes

Automatic sign detection and recognition in natural scenes

引用

2005 IEEE computer Society conference on computer vision and pattern recognition, CVPR 2005 - workshops

作者： Silapachote, Piyanuch Weinman, Jerod Hanson, Allen Weiss, Richard Mattar, Marwan A. Department of Computer Science University of Massachusetts Amherst AmherstMA01003 United States School of Cognitive Science Hampshire College AmherstMA01002 United States

ISBN: (纸本)0769526608

Visually impaired individuals are unable to utilize the significant amount of information in signs. VIDI is a system for detecting and recognizing signs in the environment and voice synthesizing their contents. The wide variety of signs and unconstrained imaging conditions make the problem challenging. We detect signs using local color and texture features to classify image regions with a conditional maximum entropy model. Detected sign regions are then recognized by matching them against a known database of signs. A support vector machine classifier uses color to focus the search, and a match is found based on the correspondences of corners and their associated shape contexts. Our dataset includes images of downtown scenes with several signs exhibiting both illumination differences and projective distortions. A wide range of signs are detected and recognized including both text and symbolic information. The detection and the recognition components each perform well on their respective tasks, and initial evaluations of a complete detection and recognition system are promising. © 2005 IEEE computer Society. All rights reserved.

关键词： Support vector machines

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Evaluation of the modelling of local areas and errors of localization in FRGC'05

Evaluation of the modelling of local areas and errors of loc...

引用

2005 IEEE computer Society conference on computer vision and pattern recognition, CVPR 2005 - workshops

作者： Hamsici, Onur C. Martínez, Aleix M. Depart. of Electrical and Computer Engineering The Ohio State University ColumbusOH43210 United States

ISBN: (纸本)0769526608

We present an evaluation of a probabilistic, part-based algorithm designed at The Ohio State University. Our algorithm is robust to errors of precision made by the (automatic) face and facial feature detector and to local image changes due to, for example, expression and illumination. Our contributions include the design of a novel face and facial feature detector and the justification of the use of the Mahalanobis cosine distance. We show results on experiments 1 and 4 in the FRGC (Version 2) test/database. Our algorithm includes a new face detector that is used to demonstrate the robustness of our algorithm to small errors of localization. © 2005 IEEE computer Society. All rights reserved.

关键词： Errors

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Active pursuit tracking in a projector-camera system with application to augmented reality

Active pursuit tracking in a projector-camera system with ap...

引用

2005 IEEE computer Society conference on computer vision and pattern recognition, CVPR 2005 - workshops

作者： Gupta, Shilpi Jaynes, Christopher Department of Computer Science University of Kentucky LexingtonKY40513 United States

ISBN: (纸本)0769526608

We introduce an active object tracking algorithm that maintains relative calibration between a camera-projector pair for augmented-reality applications. The approach is motivated by the growing use of digital light projectors for human-computer interaction and novel display environments. These domains typically require known relative calibration between the camera and projector so that events detected in the camera (i.e. a user pushbutton selection) can correctly impact the projected display. The tracking algorithm detects both real-world landmarks and projected fiducials and updates the transform that will bring them into alignment in each frame. The active pursuit tracker is demonstrated in the context of an application that allows users to visualize a virtual volume of three-dimensional data simply by physically positioning a display plane within the space. © 2005 IEEE computer Society. All rights reserved.

关键词： Cameras

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