The paper presents a framework for cooperative fire detection by means of a fleet of heterogeneous UAVs. computervision techniques are used to detect and localize fires from infrared and visual images and other data ...
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The paper presents a framework for cooperative fire detection by means of a fleet of heterogeneous UAVs. computervision techniques are used to detect and localize fires from infrared and visual images and other data provided by the cameras and other sensors on-board the UAVs. The paper deals with the techniques used to decrease the uncertainty in fire detection and increase the accuracy in fire localisation by means of the cooperation of the information provided by several UAVs. The presented methods have been developed in the COMETS multi-UAV project.
In this paper we study the use of computervision techniques for for underwater visual tracking and counting of fishes in vivo. The methodology is based on the application of a Bayesian filtering technique that enable...
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In this paper we study the use of computervision techniques for for underwater visual tracking and counting of fishes in vivo. The methodology is based on the application of a Bayesian filtering technique that enables tracking of objects whose number may vary over time. Unlike existing fish-counting methods, this approach provides adequate means for the acquisition of relevant information about characteristics of different fish species such as swimming ability, time of migration and peak flow rates. The system is also able to estimate fish trajectories over time, which can be further used to study their behaviors when swimming in regions of interest. Our experiments demonstrate that the proposed method can operate reliably under severe environmental changes (e.g. variations in water turbidity) and handle problems such as occlusions or large inter-frame motions. The proposed approach was successfully validated with real-world video streams, achieving overall accuracy as high as 81%.
Projective homography sits at the heart of many problems in image registration. In addition to many methods for estimating the homography parameters (R.I. Hartley and A. Zisserman, 2000), analytical expressions to ass...
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Projective homography sits at the heart of many problems in image registration. In addition to many methods for estimating the homography parameters (R.I. Hartley and A. Zisserman, 2000), analytical expressions to assess the accuracy of the transformation parameters have been proposed (A. Criminisi et al., 1999). We show that these expressions provide less accurate bounds than those based on the earlier results of Weng et al. (1989). The discrepancy becomes more critical in applications involving the integration of frame-to-frame homographies and their uncertainties, as in the reconstruction of terrain mosaics and the camera trajectory from flyover imagery. We demonstrate these issues through selected examples.
The paper presents a system for automatic fire detection based on the use of autonomous aerial vehicles. Particularly, the application of a helicopter with infrared and visual cameras is described. The paper presents ...
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The paper presents a system for automatic fire detection based on the use of autonomous aerial vehicles. Particularly, the application of a helicopter with infrared and visual cameras is described. The paper presents the techniques used for fire segmentation in visual and infrared cameras, and the procedures to fuse the data obtained from both of them. Furthermore the paper presents the techniques for automatic geolocation of the detected fire alarms. Experimental results are shown.
In this paper we demonstrate a driver intent inference system (DIIS) based on lane positional information, vehicle parameters, and driver head motion. We present robust computervision methods for identifying and trac...
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In this paper we demonstrate a driver intent inference system (DIIS) based on lane positional information, vehicle parameters, and driver head motion. We present robust computervision methods for identifying and tracking freeway lanes and driver head motion. These algorithms are then applied and evaluated on real-world data collected in a modular intelligent vehicle test-bed. Analysis of the data for lane change intent is performed using a sparse Bayesian learning methodology. Finally, the system as a whole is evaluated using a novel metric and real-world data of vehicle parameters, lane position, and driver head motion.
Omnidirectional cameras offer a much wider field of view than the perspective ones and alleviate the problems due to occlusions. However, both types of cameras suffer from the lack of depth perception. A practical met...
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Omnidirectional cameras offer a much wider field of view than the perspective ones and alleviate the problems due to occlusions. However, both types of cameras suffer from the lack of depth perception. A practical method for obtaining depth in computervision is to project a known structured light pattern on the scene avoiding the problems and costs involved by stereo vision. This paper is focused on the idea of combining omnidirectional vision and structured light with the aim to provide 3D information about the scene. The resulting sensor is formed by a single catadioptric camera and an omnidirectional light projector. It is also discussed how this sensor can be used in robot navigation applications.
We present a computervision system that associates omnidirectional vision with structured light with the aim of obtaining depth information for a 360 degrees field of view. The approach proposed in this article combi...
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We present a computervision system that associates omnidirectional vision with structured light with the aim of obtaining depth information for a 360 degrees field of view. The approach proposed in this article combines an omnidirectional camera with a panoramic laser projector. The article shows how the sensor is modelled and its accuracy is proved by means of experimental results. The proposed sensor provides useful information for robot navigation applications, pipe inspection, 3D scene modelling etc.
A reported liability of the controller area network protocol is that it does not provide a clock synchronization service. Therefore, whenever a CAN-based distributed embedded system requires its nodes to have a common...
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A reported liability of the controller area network protocol is that it does not provide a clock synchronization service. Therefore, whenever a CAN-based distributed embedded system requires its nodes to have a common time base, clock synchronization has to be implemented by means of an external mechanism. In a previous work, we proposed a fault-tolerant and high-precision clock synchronization protocol for CAN. This paper shows the first steps towards the formal verification of this protocol. In particular, it presents a formal model that has been built with the UPPAAL model checker and discusses how clock drift and clock correction can be modeled with this tool
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