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检索条件"机构=Computer Vision and Robotics"

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A Regression Model in TensorPCA Subspace for Face Image Super-resolution Reconstruction

A Regression Model in TensorPCA Subspace for Face Image Supe...

引用

International Conference on Pattern Recognition

作者： Junwen Wu M.M. Trivedi Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of California San Diego CA USA

ISBN: (纸本)0769525210

A regression model in the tensorPCA subspace is proposed in this paper for face super-resolution reconstruction. An approximate conditional probability model is used for the tensor subspace coefficients and maximum-likelihood estimator gives a linear regression model. The approximation is corrected by adding non-linear component from a RBF-type regressor. Experiments on face images from FERET database validate the algorithm. Although each projection coefficient is estimated by a local estimator, tensorPCA subspace analysis is still a global descriptor, which makes the algorithm have certain ability to deal with partially occluded images

关键词： Image resolution Image reconstruction Tensile stress Spatial resolution Principal component analysis Face detection Image analysis computer vision Robot vision systems Laboratories

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Autonomous Detection of Safe Landing Areas for an UAV from Monocular Images

Autonomous Detection of Safe Landing Areas for an UAV from M...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Sebastien Bosch Simon Lacroix Fernando Caballero LAAS CNRS Toulouse France Robotics Computer Vision and Intelligent Control Group University of Seville Spain

This paper presents an approach to detect safe landing areas for a flying robot, on the basis of a sequence of monocular images. The approach does not require precise position and attitude sensors: it exploits the relations between 2D image homographies and 3D planes. The combination of a robust homography estimation and of an adaptive thresholding of correlation scores between registered images yields the update of a stochastic grid, that exhibits the horizontal planar areas perceived. This grid allows the integration of data gathered at various altitudes. Results are presented

关键词： Unmanned aerial vehicles Layout Intelligent robots Transmission line matrix methods Image reconstruction Robot sensing systems Robot vision systems Image sensors Robustness Yield estimation

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Panoramic Appearance Map (PAM) for Multi-camera Based Person Re-identification

Panoramic Appearance Map (PAM) for Multi-camera Based Person...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Tarak Gandhi Mohan M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego La Jolla CA USA

This paper proposes a concept of panoramic appearance map to perform reidentification of a people who leave the scene and reappear after some time. The map is a compact signature of appearance information of a person extracted from multiple cameras. The person is detected and tracked in multiple cameras and triangulation is used to accurately localize the person in 3-D. A virtual cylinder is formed around the person's location and mapped onto an image with the horizontal axis representing the azimuth angle and vertical axis representing the height. Each bin in the map image gets the appearance information from all the cameras which can observe it. The maps between different tracks are matched using a weighted metric. Experimental results showing person matching and reidentification show the effectiveness of the approach.

关键词： Cameras Data mining Azimuth Layout Surveillance Intelligent vehicles Color Histograms computer vision Robot vision systems

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Multimodal Voxelization and Kinematically Constrained Gaussian Mixture Models for Full Hand Pose Estimation: An Integrated Systems Approach

Multimodal Voxelization and Kinematically Constrained Gaussi...

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IEEE International Conference on computer vision Systems (ICVS)

作者： Shinko Y. Cheng M.M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego La Jolla CA USA

We propose a new approach to the hand pose estimation problem using only volume information. We describe a thermal and color image-based approach to generate silhouettes of the hand with which voxel images are produced using shape-from-silhouette. We assume a 16-component, 27 degree-of-freedom kinematically constrained Gaussian mixture model, and fit it over the voxel images. We constrain the otherwise freely-arranged components of this model by a system of equations describing joint characteristics parameterized by component centroids and orientations. We use the EM algorithm and steepest descent to estimate the parameters of the model such that they yield the maximum likelihood and kinematically correct pose estimates. We demonstrate the effectiveness of the proposed system on synthesized as well as captured voxel images of the hand, and show that given appropriate initial conditions, the iterative model parameter estimation procedure effectively converges to and tracks the "voxelized" articulated hand.

关键词： Joints Biological system modeling Image segmentation Image reconstruction computer vision Image generation Parameter estimation Yield estimation Robot vision systems Laboratories

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A computer vision system for monitoring the energy efficiency of intermodal trains

A computer vision system for monitoring the energy efficienc...

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作者： Lai, Yung-Cheng Ahuja, Narendra Barkan, Christopher P. L. Drapa, Joseph Hart, John M. Milhon, Larry Railroad Engineering Program University of Illinois Urbana-Champaign IL United States Computer Vision and Robotics Lab. University of Illinois Urbana-Champaign IL United States BNSF Railway Fort Worth TX United States

ISBN: (纸本)0791842037

Intermodal trains are typically the fastest trains operated by North American freight railroads. It is thus ironic that these trains tend to have the poorest aerodynamic characteristics. Because of constraints imposed by equipment design and diversity, there are often large gaps between intermodal loads and these trains incur greater aerodynamic penalties and increased fuel consumption compared to other trains. We conducted train energy analyses of the most common intermodal train configurations operated in North America. It was found that matching intermodal loads with cars of appropriate length reduces the gap length thereby improving airflow. Properly matching cars with loads also avoids use of cars that are longer and thus heavier than necessary. For double stack containers on well cars, train resistance may be reduced by as much as 9% and fuel savings by 0.52 gallon per mile per train. Proper loading of intermodal trains is therefore important to improving energy efficiency. We have developed a wayside machine vision system that automatically scans passing trains and assesses the aerodynamic efficiency of the loading pattern. Machine vision algorithms are used to analyze these images and detect and measure gaps between loads and develop a quantitative index of the loading efficiency of the train. Integration of this metric that we call "slot efficiency" can provide intermodal terminal mangers feedback on loading performance for trains and be integrated into the software support systems used for loading assignment. Copyright © 2006 by ASME.

关键词： Energy efficiency

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A multimodal framework for vehicle and traffic flow analysis

A multimodal framework for vehicle and traffic flow analysis

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International Conference on Intelligent Transportation

作者： J. Ploetner M.M. Trivedi Computer Vision and Robotics Research Laboratory CVRR University of California San Diego La Jolla CA USA

This paper presents an overview of a novel multimodal system being developed at UC San Diego for vehicle detection and traffic flow analysis. A distributed multimodal array (DiMMA) framework is presented for sensory data acquisition, processing, analysis, fusion, and "active" control mechanisms needed to recognize objects, events, and activities which have multi-modal signatures. Current sensing modalities being researched include video, audio, seismic, magnetic, and passive infrared. Feature extraction and data fusion techniques are being investigated to improve robustness and study the advantages and disadvantages of each sensing modality. Preliminary results of this rapidly deployable system are discussed, along with possible future expansions, including laser range scanners, geophones, pneumatic road tubes, and traditional inductive loops

关键词： Vehicle detection Road vehicles Monitoring Robustness Sensor arrays Magnetic analysis Traffic control Information security Detectors Cameras

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Viewpoint independent human motion analysis in man-made environments

Viewpoint independent human motion analysis in man-made envi...

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2006 17th British Machine vision Conference, BMVC 2006

作者： Rogez, G. Guerrero, J.J. Martínez, J. Orrite, C. Computer Vision Lab. I3A - University of Zaragoza Maria de Luna 1 50018 Zaragoza Spain Robotics Perception and Real Time Group I3A - University of Zaragoza Maria de Luna 1 50018 Zaragoza Spain

ISBN: (纸本)1904410146

This work addresses the problem of human motion analysis in video sequences of a scene observed by a single fixed camera with high perspective effect. The goal of this work is to make a 2D-Model (made of Shape and Stick figure) viewpoint-insensitive and preprocess the input image for removing the perspective effect. We focus our methodology on using the 3D principal directions of man-made environments and also the direction of motion to transform both 2D-Model and input images to a common frontal view (parallel or orthogonal to the direction of motion) before the fitting process. The inverse transformation is then performed on the resulting human features obtaining a segmented silhouette and a pose estimation in the original input image. Preliminary results are very promising since the proposed algorithm is able to locate head and feet with a better precision than previous one.

关键词： Motion analysis

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Improving the efficiency and effectiveness of railcar safety appliance inspection using machine vision technology

Improving the efficiency and effectiveness of railcar safety...

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ASME/IEEE Joint Conference on Rail

作者： R. Edwards C.P.L. Barkan J.M. Hart S. Todorovic N. Ahuja Department of Civil and Environmental Engineering Newmark Civil Engineering Laboratory University of Illinois Urbana-Champaign Urbana IL USA Computer Vision and Robotics Laboratory Beckman Institute for Advanced Science and Technology Urbana IL USA Department of Electrical and Computer Engineering Computer Vision and Robotics Laboratory Beckman Institute for Advanced Science and Technology Urbana IL USA

Before a train departs a yard, many aspects of the freight cars and locomotives undergo inspection, including their safety appliances. Safety appliances are handholds, ladders and other objects that serve as the interface between humans and railcars during transportation. Federal safety rules govern the design and condition of safety appliances. The current car inspection process is primarily visual making it laborious, redundant, and generally lacking of memory. There exists a potential to increase both the effectiveness and efficiency of safety appliance inspections by utilizing machine vision technology to enhance the railcar inspection process. Machine vision consists of capturing digital video and using algorithms capable of detecting and analyzing the particular objects or patterns of interest. computer algorithms can objectively inspect railcars without tiring or becoming distracted and can also focus on certain parts of the railcar not easily seen by an inspector on the ground. Thus far, algorithms have been developed that can detect deformed ladders, handholds, and brake wheels on open-top gondolas and hoppers. Next, visual learning will be employed to teach the algorithm the differences between Federal Railroad Administration (FRA) safety appliance defects and other types of deformation not requiring a car to be bad ordered. The final product will be a wayside inspection system capable of detecting safety appliance defects on passing railcars.

关键词： Railway safety Home appliances Inspection Machine vision Vehicle safety US Department of Transportation Humans Rail transportation Object detection Pattern analysis

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Experimental Modeling and Control Strategies on an Open Mobile Robot Platform PRIM

Experimental Modeling and Control Strategies on an Open Mobi...

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IEEE International Conference on Automation, Quality and Testing, robotics, AQTR

作者： Lluis Pacheco Roger Arbuse Ningsu Luo Computer Vision and Robotics Group University of Girona Girona Spain Modal Interval and Control Engineering Group University of Girona Girona Spain

This research work deals with the problem of modeling and design of low level speed controller for the mobile robot PRIM. The main objective is to develop an effective educational tool. On one hand, the interests in using the open mobile platform PRIM consist in integrating several highly related subjects to the automatic control theory in an educational context, by embracing the subjects of communications, signal processing, sensor fusion and hardware design, amongst others. On the other hand, the idea is to implement useful navigation strategies such that the robot can be served as a mobile multimedia information point. It is in this context, when navigation strategies are oriented to goal achievement, that a local model predictive control is attained. Hence, such studies are presented as a very interesting control strategy in order to develop the future capabilities of the system

关键词： Mobile robots Automatic control Navigation Communication system control Context Mobile communication Signal processing Sensor fusion Hardware Signal design

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Attenuating stereo pixel-locking via affine window adaptation

Attenuating stereo pixel-locking via affine window adaptatio...

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IEEE International Conference on robotics and Automation (ICRA)

作者： A.N. Stein A. Huertas L. Matthies Robotics Institute Carnegie Mellon University Pittsburgh PA USA Computer Vision Group Jet Propulsion Laboratory Pasadena CA USA

For real-time stereo vision systems, the standard method for estimating sub-pixel stereo disparity given an initial integer disparity map involves fitting parabolas to a matching cost function aggregated over rectangular windows. This results in a phenomenon known as pixel-locking, which produces artificially-peaked histograms of sub-pixel disparity. These peaks correspond to the introduction of erroneous ripples or waves in the 3D reconstruction of truly flat surfaces. Since stereo vision is a common input modality for autonomous vehicles, these inaccuracies can pose a problem for safe, reliable navigation. This paper proposes a new method for sub-pixel stereo disparity estimation, based on ideas from Lucas-Kanade tracking and optical flow, which substantially reduces the pixel-locking effect. In addition, it has the ability to correct much larger initial disparity errors than previous approaches and is more general as it applies not only to the ground plane. We demonstrate the method on synthetic imagery as well as real stereo data from an autonomous outdoor vehicle

关键词： Stereo vision Remotely operated vehicles Mobile robots Real time systems Cost function Histograms Image reconstruction Surface waves Optical surface waves Surface fitting

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