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computer vision-based navigation for autonomous blimps

Computer vision-based navigation for autonomous blimps

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brazilian symposium on computer graphics and image processing (SIBGRAPI)

作者： L.S. de Coelho M.F.M. Campos V. Kumar Universidade Federal de Minas Gerais Belo Horizonte MG BR General Robotics and Active Sensory Perception Laboratory University of Pennsylvania Philadelphia PA USA

Autonomous dirigibles-aerial robots that are a blimp controlled by computer based on information gathered by sensors-are a new and promising research field in robotics, offering several original work opportunities. One of them is the study of visual navigation, that would allow an autonomous dirigible to follow precise trajectories based on environmental visual information imaged by on-board cameras. The first step in the direction of the developing of such a capacity is the creation of a computer vision system able to supply to the autonomous dirigible its position and orientation in tridimensional space from the acquired images. This project describes such a system, capable of estimating position and orientation from images of visual beacons-objects with known geometrical properties and recognizable by the system. Experimental results showing the correct and efficient functioning of the system are shown and implications and future possibilities are discussed.

关键词： computer vision Navigation Cameras Robot sensing systems Robot vision systems Aircraft propulsion Application software Laboratories Electrical capacitance tomography image recognition

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An algorithm for intersecting and trimming parametric meshes

An algorithm for intersecting and trimming parametric meshes

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brazilian symposium on computer graphics and image processing (SIBGRAPI)

作者： L.C.G. Coelho M. Gattass L.H. De Figueiredo Department of Computer Science PUC-Rio Rio de Janeiro Rio de Janeiro Brazil LNCC-Laboratório Nacional de Computação Científica Petropolis Rio de Janeiro Brazil

We present an algorithm for intersecting finite-element meshes defined on parametric surface patches. The intersection curves are modeled precisely and both meshes are adjusted to the newly formed borders. The algorithm is part of an interactive shell modeling program, which has been used in the design of large offshore oil structures. We avoid unacceptable interaction delays by using a variant of the DCEL data structure that stores topological entities in spatial indexing trees instead of linked lists. These trees speed up the intersection computations required to determine points of the trimming curves, and also allows mesh reconstruction using only local queries.

关键词： Surface reconstruction Algorithm design and analysis Petroleum Tree data structures Indexing Mesh generation computer science Delay Data structures Solid modeling

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Error measures in greedy insertion simplification methods

Error measures in greedy insertion simplification methods

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brazilian symposium on computer graphics and image processing (SIBGRAPI)

作者： A. Antunes Montenegro M. Gattass P. Cezar Pinto Carvalho Departamento de Informática PUC-RIO TeCGraf-Grupo de Tecnologia em Computação Gráfica Rio de Janeiro Rio de Janeiro Brazil IMPA-Instituto de Matemática Pura e Aplicada Rio de Janeiro Brazil

In this work we study algorithms for obtaining simplified representations of terrain models. Terrain data is difficult to deal with, due to its complexity and size. Simplification methods are some of the techniques used to reduce its natural complexity. Among these methods, greedy insertion with vertical local error measure is considered to be the one that yields best results. In spite of its qualities, the method presents shortcomings, especially when applied to terrain with different height variation regions. We investigate the existence of better error measures to deal with this situation and propose the adoption of greedy insertion methods in which the local vertical error is modified according to the variability of the surface in a neighborhood of the point under consideration. The proposed error measure used with the greedy algorithms yields a significant improvement in the visualization process.

关键词： Visualization Tin computer errors Greedy algorithms computer graphics Application software Solid modeling Geometry Topology Sampling methods

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Estimating vanishing point from the angular correlation of spectral texture distribution

Estimating vanishing point from the angular correlation of s...

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brazilian symposium on computer graphics and image processing (SIBGRAPI)

作者： E. Ribeiro E.R. Hancock Department of Computer Science University of York York UK

This paper describes a novel method for recovering the perspective geometry of textured surfaces from local spectral analysis. We recover 3-D orientation of planar surfaces based on angular properties of the local spectral description of the surface markings. We also show a geometrical relationship between local spectral components and the vanishing point of the texture plane. Our method is a two-step process. We commence by identifying contours which connect the local spectral moments of equal power. The direction can be estimated from the energy gradient described in the perpendicular direction to these contours. The second step is to correlate points with the same angular spectral distribution. Points with the same angular spectral configuration will lie on a line pointing to a vanishing point. This allows us to estimate the direction of the vanishing point at different positions on the image plane. In this way we can use a sample of spectral moments to estimate the vanishing point location.

关键词： Shape measurement Surface texture Distortion measurement Frequency Geometry Spectral analysis computer science Psychology image segmentation Fourier transforms

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Optimized block based disparity estimation in stereo systems using a maximum-flow approach

Optimized block based disparity estimation in stereo systems...

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brazilian symposium on computer graphics and image processing (SIBGRAPI)

作者： I. Thomo S. Malasiotis M.G. Strintzis Department of Electrical and Computer Engineering University of Thessaloniki Thessaloniki Greece

A novel disparity estimation method is presented that increases the robustness of the estimator by replacing the classical approach of dynamic programming with finding the maximum flow in a graph. Once solved, the minimum cut associated to the maximum flow yields a disparity surface for the whole image at once. The results show improved depth estimations as well as better handling of depth discontinuities. Although the running time for solving the maximum flow problem is higher than dynamic programming, experiments have shown that the special topology of the graph, the position of the source and sink and the capacity structure of the edges tend to make the problem easier to solve. However, the main drawback of this approach is the large amount of memory resources required by the classical implementations of the maximum flow algorithm, which make impossible in practice to apply this approach even for the small stereo images with small disparity resolution. Taking advantage of the special topology of the graph and the position of the source and sink we propose an efficient data structure for drastically reducing the amount of memory resources used.

关键词： Dynamic programming Topology image resolution Data structures image edge detection Photometry Cameras Geometry Packaging Electrical capacitance tomography

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Disparity-based view morphing - A new technique for image-based rendering 98

Disparity-based view morphing - A new technique for image-ba...

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ACM symposium on Virtual Reality Software and Technology, VRST 1998

作者： Huang, Ho-Chao Nain, Shung-Hua Hung, Yi-Ping Cheng, Tse Institute of Information Science Academia Sinica Taipei Taiwan Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan Computer and Communication Lab. Industrial Technology Research Institute Hsinchu Taiwan

ISBN: (纸本)1581130198

This paper proposes a new powerful technique for image-based rendering, i.e., the disparity morphing technique. The disparity morphing depends on the estimated disparity map for each image pair based on the epipolar geometry. The epipolar constraints can not only speed up the searching of correspondences for disparity estimation, but also improve the accuracy of the estimated disparity maps. Then the forward and backward morphing functions are defined based on the estimated disparity maps. Notice that the forward and backward morphing functions are usually not linear and not similar to the traditional image morphing functions. Finally, the interpolation function is defined to deal with the object occlusion problems correctly. The resulted transition views are almost the same as what viewers can see in the real world. For object movie systems, the disparity morphing can generate interpolated views between two or more viewing directions. For panoramic imaging systems, the disparity morphing can generate views having smooth and realistic transition as viewers walk from one viewpoint to another. Also, it can help to stitch seamless stereo and monocular panoramas, even when the lens center does not lie on the rotation axis. © 1998 ACM.

关键词： Stereo image processing

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Space-variant representation for active object recognition

Space-variant representation for active object recognition

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brazilian symposium on computer graphics and image processing (SIBGRAPI)

作者： S. Exel L. Pessoa Programa de Engenharia de Sistemas e Computaçao COPPE-UFRJ Centro de Tecnologia Rio de Janeiro Rio de Janeiro Brazil

Vision is an active process where behaviorally important information is selectively gathered. We present a model of visual recognition in which the high resolution fovea is deployed to interesting regions by selective attention processes. The raw image is initially represented by a space variant complex cell, or oriented edge map. This transformed input is processed by a decision system which attempts to recognize the image, given partial information. In the more typical case where the available information is insufficient to support recognition, an attentive foveation system is engaged which is responsible for determining the subsequent image region of interest. The next foveation is based on both bottom-up information from the image and top down information from the set of stored models, and corresponds to the process of selective attention within the model. The foveation process continues until the object is recognized. The model is applied to the task of face recognition where simulations illustrate its behavior and the model's potential for visual recognition in general.

关键词： Object recognition Electrical capacitance tomography image recognition Face recognition Layout Retina Visual system Microwave integrated circuits Animals

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Automatic feature selection for biological shape classification in /spl Sigma/ynergos

Automatic feature selection for biological shape classificat...

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brazilian symposium on computer graphics and image processing (SIBGRAPI)

作者： O.M. Bruno R.M. Cesar L.A. Consularo L. Da Fontoura Costa Cybernetic Vision Research Group-GII-IFSC University of São Paulo Sao Paulo Brazil Department of Computer Science-IME University of São Paulo Sao Paulo Brazil

This paper reports the development of a versatile framework allowing the characterization and analysis of computer vision techniques as well as their applications to biological shapes, with attention focused on neural cells. The proposed framework has been implemented within the /spl Sigma/ynergos system, a powerful imaging laboratory that includes, among other features, tools for performance assessment of computer vision techniques, image databases, real-time processing by using distributed systems and interface with the Internet. The motivations for the development of such a framework: (i) the importance of biological shape analysis; (ii) its potential as an effective tool for the systematic assessment of image processing and analysis techniques; and (iii) the possibility of conducting extensive characterizations of biological shapes. The paper describes an experiment to assess multiscale shape features for complexity characterization, which have been adopted for the classification of two types of ganglion neural cells (cat), namely /spl alpha/ and /spl beta/. This experiment involves: (1) a training stage where the k-means clustering algorithm learns the prototypes of each class from the database; (2) the neurons in the database are classified; (3) the classification results are compared to the original classes; and (4) the number of misclassifications is determined. The genetic algorithm is used as a means of effectively investigating the N-dimensional spaces defined by the parameter configurations.

关键词： Shape computer vision image analysis Spatial databases Application software Cells (biology) Laboratories image databases Real time systems Internet

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Comparing the influence of color spaces and metrics in content-based image retrieval

Comparing the influence of color spaces and metrics in conte...

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brazilian symposium on computer graphics and image processing (SIBGRAPI)

作者： E. Mathias A. Conci CAA-Computação Aplicada e Automação Universidade Federal Fluminense Niteroi Rio de Janeiro Brazil

Visual information retrieval systems have been developed from the necessity of searching and recovering data in libraries with million of daily produced digital images. In image retrieval based on their color content, the distance between color histograms defines usually the matching degree. Results of an image querying depend, at least, on the following features: the underlying color space, the number of histogram bins, and the metric used for histogram matching. Several systems have been designed for image retrieval. Comparison among them is not feasible because they use completely different implementation aspects. The purpose of this paper is to evaluate the influence of color spaces and metrics on the performances of recovering by color similarity based on color histograms. A system that performs queries through the Internet and allows one to combine metrics and color spaces is implemented. We design a database with groups of perceptually similar color image, with parameters to measure the performance among combined approaches, and with a user-consult simulator. This leads to a process of establishing the influence of spaces and metrics which evaluate the better combination on retrieval.

关键词： Extraterrestrial measurements Histograms image retrieval Performance evaluation Information retrieval Software libraries Digital images Content based retrieval Internet image databases

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A graph-anisotropic approach to 3-D data segmentation

A graph-anisotropic approach to 3-D data segmentation

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brazilian symposium on computer graphics and image processing (SIBGRAPI)

作者： R. Chaine S. Bouakaz D. Vandorpe LIGIM bât 710 Université Claude Bemard Lyon 1 Villeurbanne France

In this paper, we present a general framework for the segmentation of surfaces represented by 3-D scattered data. The method we present is based on a contextual anisotropic diffusion scheme. Contextual information at each data point involves the selection of optimal directions, locally representing the shape. Over the set of points, graph based representations are well adapted to gather this kind of information in a single compact description. Thus, we introduce two structures respectively denoted minimal and maximal escarpment trees. Our segmentation process is tightly bound to these structures. It proceeds in two stages. The first stage corresponds to the exploration of the maximal escarpment tree and the detection of atomic regions. Then, the second stage permits the progressive merging of emergent regions over the minimal escarpment tree, subject to implicit conditions on the presence of singularities. The sequence of these two treatments has proven to be effective, it corresponds to a new an original approach of segmentation.

关键词： image segmentation Surface treatment Shape image reconstruction Surface reconstruction Scattering Anisotropic magnetoresistance Tree graphs Merging Labeling

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