We propose a new and flexible hierarchical multi-baseline stereo algorithm that features a non-uniform spatial decomposition of the disparity map. the visibility computation and refinement of the disparity map are int...
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ISBN:
(纸本)9780769527864
We propose a new and flexible hierarchical multi-baseline stereo algorithm that features a non-uniform spatial decomposition of the disparity map. the visibility computation and refinement of the disparity map are integrated into a single iterative framework that does not add extra constraints to the cost function. this makes it possible to use a standard efficient stereo matcher during each iteration. the level of refinement is increased automatically where it is needed in order to preserve a good localization of boundaries. While two graph-theoretic stereo matchers are used in our experiments, our framework is general enough to be applied to many others. the validity of our framework is demonstrated using real imagery with ground truth.
the success of NASA's Mars Exploration Rovers has demonstrated the important benefits that mobility adds to planetary exploration. Very soon, mission requirements will impose that planetary exploration rovers driv...
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ISBN:
(纸本)9780769527864
the success of NASA's Mars Exploration Rovers has demonstrated the important benefits that mobility adds to planetary exploration. Very soon, mission requirements will impose that planetary exploration rovers drive autonomously in unknown terrain. this will require an evolution of the methods and technologies currently used. this paper presents our approach to 3D terrain reconstruction from large sparse range data sets, and the data reduction achieved through decimation. the outdoor experimental results demonstrate the effectiveness of the reconstructed terrain model for different types of terrain. We also present a first attempt to classify the terrain based on the scans properties.
To perform as desired in a dynamic environment a vision system must adapt to a variety of operating conditions by selecting vision modules, tuning their parameters, and controlling image acquisition. Knowleage-based (...
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ISBN:
(纸本)9780769527864
To perform as desired in a dynamic environment a vision system must adapt to a variety of operating conditions by selecting vision modules, tuning their parameters, and controlling image acquisition. Knowleage-based (KB) controller-agents that reason over explicitly represented knowledge and interact withtheir environment can be used for this task;however the lack of a unifying methodology and development tools makes KB controllers difficult to create, maintain, and reuse. this paper presents the INVICON toolkit, based on the IndiGolog agent programming language with elements from control theory. It provides a basic methodology, a vision module declaration template, a suite of control components, and support tools for KB controller development. We have evaluated INVICON in two case studies that involved controlling vision-based pose estimation systems. the case studies show that INVICON reduces the effort needed to build. KB controllers for challenging domains and improves their flexibility and robustness.
this paper presents an integrated region-based and gradient-based supervised method for segmentation of a patient magnetic resonance images (MRI) of the shoulder joint. the method is noninvasive, anatomy-based and req...
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In this paper we present a system for automatic annotation of humans passing a surveillance camera. Each human has 4 associated annotations: the primary color of the clothing, the height, and focus of attention. the a...
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this paper introduces a number of innovative no-reference algorithms to assess the perceived quality of real-time analog and digital television and video streams. A prototype system is developed to locate and measure ...
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ISBN:
(纸本)9780769527864
this paper introduces a number of innovative no-reference algorithms to assess the perceived quality of real-time analog and digital television and video streams. A prototype system is developed to locate and measure the impact of three types of impairments that commonly impair television and video signals. Analog sequences are tested for the presence of random noise. In the case of digital signals, two fundamental types of errors are of interest. the first is the blocking artifact that is so pervasive among DCT-based compression schemes such as MPEG. the second category includes errors caused by random changes to the bit stream of a signal. Of the various forms that these distortions may take on, only those that appear as "colored blocks " are detected by this system. Ideas to address the remaining issues are discussed.
Advancement in trends provokes new ideas in our mind. We often desire intelligent robots that can solve our daily routine tasks. this paper successfully outlines the ways and methodologies that can be used to develop ...
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ISBN:
(纸本)9781538680254
Advancement in trends provokes new ideas in our mind. We often desire intelligent robots that can solve our daily routine tasks. this paper successfully outlines the ways and methodologies that can be used to develop a robotthat can monitor the growth of plants in the absence of human beings. As humans need proper food and nutrients to keep us energetic and working, similarly plants require proper nutrients in order live longer. the proposed method consists of a mobile robot integrated with a novel algorithm (implementing the concepts of computervision) to segment out the plants from the image in the best possible way. this algorithm is much more robust to lightning conditions as compared to other available algorithms. the application of this research might not only improve the conditions of plants and trees but can also result in the overall improvement of our surroundings and atmosphere.
Aiming at the requirement of power line inspection robot, this paper develops and builds a vision system depending upon the TMS320DM642 as the core, which can realize the image collection and display, implement the im...
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ISBN:
(纸本)9781424435197
Aiming at the requirement of power line inspection robot, this paper develops and builds a vision system depending upon the TMS320DM642 as the core, which can realize the image collection and display, implement the image features extraction. through the extended UART interfaces, this system can communicate withthe control unit of Power Line Inspection robot. Corner coordinates obtained from the algorithm of this system can be used for extraction and matching of the image feature points, motion estimation, three-dimensional reconstruction, etc. Compared to the traditional vision system based on image capturing cards and PC platforms, it has the advantages of small size, favourable real-time properties, low power consumption, etc. Experiment results indicate that the precision and speed of corner extraction are both better than those of the traditional PC platforms.
vision has extensively expanded the robots capabilities, making the robot control problem more complex. To track a target with a robot arm in a three-dimensional space involves to use precise commands. We propose to i...
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vision has extensively expanded the robots capabilities, making the robot control problem more complex. To track a target with a robot arm in a three-dimensional space involves to use precise commands. We propose to insert a hierarchical neurocontroller based on CMAC (Cerebellar Model Articulation Controller) networks in a visual servoing loop. this hierarchical structure splits the robot's workspace and assigns different CMAC controllers imposing thus specialized region CMAC. Compared to a single CMAC withthe same number of weights, the neurocontroller's sensitivity and precision is increased. robot positioning and target tracking with visual feedback can then be done with a better precision.
this paper presents an approach of interaction with mechatronics systems through gestures. Withthe help of a half-closed palm, a wheeled robotic vehicle controls its movement. Depending on the slope of the gesture, t...
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ISBN:
(纸本)9781728100647
this paper presents an approach of interaction with mechatronics systems through gestures. Withthe help of a half-closed palm, a wheeled robotic vehicle controls its movement. Depending on the slope of the gesture, the vehicle moves in the corresponding direction by varying its velocity according to the magnitude of the gesture gradient. the gesture is processed using classical computervision methodologies and the results arc transferred to the mechatronics system for testing. Tests made using the methodology have been found to be easy to use and effective to satisfy end-users.
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