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Omnidirectional Egomotion Estimation From Back-projection Flow

Omnidirectional Egomotion Estimation From Back-projection Fl...

引用

ieee computer Society conference on computer vision and pattern recognition workshops (cvprw)

作者： Omid Shakernia Rene Vidal Shankar Sastry Department of Electrical Engineering & Computer Sciences University of California Berkeley USA

The current state-of-the-art for egomotion estimation with omnidirectional cameras is to map the optical flow to the sphere and then apply egomotion algorithms for spherical projection. In this paper, we propose to back-project image points to a virtual curved retina that is intrinsic to the geometry of the central panoramic camera, and compute the optical flow on this retina: the so-called back-projection flow. We show that well-known egomotion algorithms can be easily adapted to work with the back-projection flow. We present extensive simulation results showing that in the presence of noise, egomotion algorithms perform better by using back-projection flow when the camera translation is in the X-Y plane. Thus, the proposed method is preferable in applications where there is no Z-axis translation, such as ground robot navigation.

关键词： Cameras computer vision Image motion analysis Optical imaging Retina Optical noise Noise

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Optical flow estimation in omnidirectional images using wavelet approach

Optical flow estimation in omnidirectional images using wave...

引用

ieee computer Society conference on computer vision and pattern recognition workshops (cvprw)

作者： Cedric Demonceaux Djemaa Kachi-Akkouche UMR 6140 L.A.M.F.A. Amiens France EA 3299 CREA Amiens France

The motion estimation computation in the image sequences is a significant problem in image processing. Many researches were carried out on this subject in the image sequences with a traditional camera. These techniques were applied in omnidirectional image sequences. But the majority of these methods are not adapted to this kind of sequences. Indeed they suppose the flow is locally constant but the omnidirectional sensor generates distortions which contradict this assumption. In this paper, we propose a fast method to compute the optical flow in omnidirectional image sequences. This method is based on a Brightness Change Constraint Equation decomposition on a wavelet basis. To take account of the distortions created by the sensor, we replace the assumption of flow locally constant used in traditional images by a hypothesis more appropriate.

关键词： computer vision Image motion analysis Optical imaging Optical distortion Optical sensors Estimation Equations

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Comparative Studies of Line-based Panoramic Camera Calibration

Comparative Studies of Line-based Panoramic Camera Calibrati...

引用

ieee computer Society conference on computer vision and pattern recognition workshops (cvprw)

作者： Fay Huang Shou-Kang Wei Reinhard Klette Department of Information and Computer Science Keio University Yokohama Japan Institute of Information Science Academia Sinica Taipei Taiwan CITR Computer Science Department University of Auckland Auckland New Zealand

The calibration of a line-based panoramic camera can be split into two independent subtasks: first calibrate the effective focal length and the principal row, and second, calibrate the off-axis distance and the principal angle. The paper provides solutions for three different methods, and compares these methods based on experiments using a superhigh resolution line-based panoramic camera. It turns out that the second subtask is solved best if a straight-segment based approach is used, compared to point-based or correspondence-based calibration methods, all already known for traditional (planar) pinhole cameras, but not yet previously discussed for panoramic cameras.

关键词： Cameras Calibration Distance measurement Three dimensional displays Pixel Sensitivity Image segmentation

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EEG Subspace Representations and Feature Selection for Brain-computer Interfaces

EEG Subspace Representations and Feature Selection for Brain...

引用

ieee computer Society conference on computer vision and pattern recognition workshops (cvprw)

作者： Charles W. Anderson Michael J. Kirby Department of Computer Science Colorado State University Fort Collins CO USA Department of Mathematics Colorado State University Fort Collins CO USA

Electroencephalogram (EEG) signals recorded from a persons scalp have been used to control binary cursor movements. Multiple choice paradigms will require more sophisticated protocols involving multiple mental tasks and signal representations that capture discriminatory characteristics of the EEG signals. In this study, six-channel EEG is recorded from a subject performing two mental tasks. The signals are transformed via the Karhunen-Loéve or maximum noise fraction transformations and classified by quadratic discriminant analysis. In addition, classification accuracy is tested for all subsets of the six EEG channels. Best results are approximately 90% correct when training and testing data are recorded on the same day and 75% correct when training and testing data are recorded on different days.

关键词： Electrodes Electroencephalography Training Accuracy Testing Noise Transforms

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Tools for Developing OCRs for Indian Scripts

Tools for Developing OCRs for Indian Scripts

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ieee computer Society conference on computer vision and pattern recognition workshops (cvprw)

作者： M N S S K Pavan Kumar S S Ravi Kiran Abhishek Nayani C V Jawahar P J Narayanan International Institute of Information Technology Centre for Visual Information Technology Hyderabad India

Development of OCRs for Indian script is an active area of research today. Indian scripts present great challenges to an OCR designer due to the large number of letters in the alphabet, the sophisticated ways in which they combine, and the complicated graphemes they result in. The problem is compounded by the unstructured manner in which popular fonts are designed. There is a lot of common structure in the different Indian scripts. In this paper, we argue that a number of automatic and semi-automatic tools can ease the development of recognizers for new font styles and new scripts. We discuss briefly three such tools we developed and show how they have helped build new OCRs. An integrated approach to the design of OCRs for all Indian scripts has great benefits. We are building OCRs for many Indian languages following this approach as part of a system to provide tools to create content in them.

关键词： Optical character recognition software Image segmentation Driver circuits pattern recognition conferences computer vision Manuals

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The Beauvais Cathedral Project

The Beauvais Cathedral Project

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ieee computer Society conference on computer vision and pattern recognition workshops (cvprw)

作者： Peter K. Allen Alejandro Troccoli Benjamin Smith Ioannis Stamos Stephen Murray Department of Computer Science Columbia University New York NY USA Department of Computer Science CUNY USA Department of Art History and Archaeology Columbia University New York NY USA

Preserving cultural heritage and historic sites is an important problem. These sites are subject to erosion, vandalism, and as long-lived artifacts, they have gone through many phases of construction, damage and repair. It is important to keep an accurate record of these sites using 3-D model building technology as they currently are, so preservationists can track changes, foresee structural problems, and allow a wider audience to "virtually" see and tour these sites. Due to the complexity of these sites, building 3-D models is time consuming and difficult, usually involving much manual effort. This paper discusses new methods that can reduce the time to build a model using automatic methods. Examples of these methods are shown in reconstructing a model of the Cathedral of Saint-Pierre in Beauvais, France.

关键词： Three dimensional displays Buildings computer vision Solid modeling Meteorology pattern recognition conferences

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P-Net: A Representation for Partially-Sequenced, Multi-stream Activity

P-Net: A Representation for Partially-Sequenced, Multi-strea...

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ieee computer Society conference on computer vision and pattern recognition workshops (cvprw)

作者： Yifan Shi Aaron F. Bobick GVU Center / College of Computing Georgia Tech Atlanta GA USA

In this paper, we devise a Propagation Net (P-Net) as a new mechanism for the representation and recognition of multi-stream activity. Most of daily activities can be represented by temporally partial ordered intervals where each interval has not only temporal constraint, i.e., before/after/duration, but also a logical relationship such as a and b both must happen. P-Net associates a node for each interval that is probabilistically triggered function dependent upon the state of its parent nodes. Each node is also associated with an observation distribution function that associates perceptual evidence. This evidence, generated by lower level vision modules, is a positive indicator of the elemental action. Using this architecture, we devise an iterative temporal sequencing algorithm that interprets a multi-dimensional observation sequence of visual evidence as a multi-stream propagation through the P-Net. Simple vision and motion-capture data experiments demonstrate the capabilities of our algorithm.

关键词： Hidden Markov models Books Detectors Pediatrics conferences Noise measurement computer vision

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Omnidirectional Distributed vision System for a Team of Heterogeneous Robots

Omnidirectional Distributed Vision System for a Team of Hete...

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ieee computer Society conference on computer vision and pattern recognition workshops (cvprw)

作者： Emanuele Menegatti Alberto Scarpa Dario Massarin Enrico Ros Enrico Pagello Intelligent Autonomous Systems Laboratory Department of Information Engineering University of Padua Italy Intelligent Autonomous Systems Laboratory Department of Information Engineering University of Padua

This paper presents a system designed to cooperatively track and share the information about moving objects using a multi-robot team. Every robot of the team is fitted with a different omnidirectional vision system running at different frame rates. The information gathered from every robot is broadcast to all the other robots and every robot fuses its own measurements with the information received from the teammates, building its own "vision of the world". The cooperation of the vision sensors enhances the capabilities of the single vision sensor. This work was implemented in the RoboCup domain, using our team of heterogeneous robot, but the approach is very general and can be used in any application where a team of robot has to track multiple objects. The system is designed to work with heterogeneous vision systems both in the camera design and in computational resources. Experiments in real game scenarios are presented.

关键词： Robots Robot sensing systems Time measurement Sensors Machine vision Tracking Position measurement

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Principal Video Shot: Linking Low-Level Perceptional Features to Semantic Video Events

Principal Video Shot: Linking Low-Level Perceptional Feature...

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ieee computer Society conference on computer vision and pattern recognition workshops (cvprw)

作者： Jianping Fan Hangzai Luo Department of Computer Science North Carolina State University Charlotte NC USA

In this paper, we propose a novel framework for semantic medical event characterization and detection by using principal video shots and semantic principal video shot classification. Specifically, the framework includes: (a) A semantic medical event characterization technique by using principal video shots in a specific surgery education video domain. (b) An automatic principal video shot detection algorithm by determining the domain-dependent and event-driven salient objects. (c) A semantic medical event detection technique by using Bayesian classifier, where the classifier parameters and structure are determined automatically by an adaptive Expectation-Maximization (EM) algorithm. For semantic medical event detection in a specific surgery education video domain, our technique achieves overall \approx 87:3% accuracy for four pre-defined semantic medical events.

关键词： Medical diagnostic imaging Skin Surgery Biomedical imaging Event detection Visualization Object detection

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Generic Event Detection in Sports Video using Cinematic Features

Generic Event Detection in Sports Video using Cinematic Feat...

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ieee computer Society conference on computer vision and pattern recognition workshops (cvprw)

作者： Ahmet Ekin A. Murat Tekalp Department of Electrical and Computer Engineering University of Rochester Rochester NY USA College of Engineering Koc University Istanbul Turkey

This paper presents real-time, or near real-time, probabilistic event detection methods for broadcast sports video using cinematic features, such as shot classes and slow-motion replays. Novel algorithms have been developed for probabilistic detection of soccer goal events and basketball play-break events in a generic framework. The proposed framework includes generic algorithms for automatic dominant (field) color region detection and shot boundary detection, and domain-specific shot classification algorithms for soccer and basketball. Finally, the detected goal events in soccer and play events in basketball are employed to generate summaries of long games. The efficiency and effectiveness of the proposed system and the algorithms have been shown over more than 13 hours of sports video captured by the broadcasters from different regions around the world.

关键词： Pixel Color Classification algorithms Feature extraction Histograms Event detection Games

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