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Fast Fog Detection for Camera Based Advanced Driver Assistance Systems

Fast Fog Detection for Camera Based Advanced Driver Assistan...

17th International IEEE Conference on Intelligent Transportation Systems & The Asia-Pacific Council on Systems Engineering Conference 2014

作者： Rita Spinneker Carsten Koch Su-Birm Park Jason Jeongsuk Yoon Hochschule Emden/Leer University of Applied Sciences Institute of InformaticsAutomation and Robotics (I2AR)EmdenGermany LG Electronics Future IT Lab Computer Vision Team SeoulRepublic of Korea

In an increasing number of cars,the driver is supported by Advanced Driver Assistance Systems(ADAS).In particular camera based ADAS are a key component for further improvements in safety and driving *** imaging sensors are performing well under good weather conditions,their efficiency suffers under adverse environmental influences such as heavy rain,fog or *** handle such optical threats and to estimate information quality of cameras in order to warn the assistance system of possible critical working conditions,a self-diagnosis mechanism is of great importance for reliable operation of an optical *** this paper an approach of camera based fog detection as part of a self-diagnosis mechanism for ADAS based on the blurring effect of fog is *** encouraging results of our experiments have shown that the presented approach of analysing the power spectrum slope(PSS) of a small image block in close proximity to the vanishing point enables a fast discrimination of street scenes with and without fog.

关键词： image Fast Fog Detection for Camera Based Advanced Driver Assistance Systems

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A Real Time and Robust Facial Expression Recognition and Imitation approach for Affective Human-Robot Interaction Using Gabor filtering

A Real Time and Robust Facial Expression Recognition and Imi...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Cid, Felipe Prado, Jose Augusto Bustos, Pablo Nunez, Pedro Robotics and Artificial Vision Lab. Robolab Group University of Extremadura Spain Institute of Systems and Robotics Dept. Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781467363587

Facial expressions are a rich source of communicative information about human behavior and emotion. This paper presents a real-time system for recognition and imitation of facial expressions in the context of affective Human Robot Interaction. The proposed method achieves a fast and robust facial feature extraction based on consecutively applying filters to the gradient image. An efficient Gabor filter is used, along with a set of morphological and convolutional filters to reduce the noise and the light dependence of the image acquired by the robot. Then, a set of invariant edge-based features are extracted and used as input to a Dynamic Bayesian Network classifier in order to estimate a human emotion. The output of this classifier updates a geometric robotic head model, which is used as a bridge between the human expressiveness and the robotic head. Experimental results demonstrate the accuracy and robustness of the proposed approach compared to similar systems.

关键词： Gabor filters belief networks edge detection emotion recognition face recognition feature extraction human-robot interaction image classification

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User modelling in adjustable control system

User modelling in adjustable control system

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2013 International Conference on Collaboration Technologies and Systems, CTS 2013

作者： Dang, Thi-Hai-Ha Tapus, Adriana Robotics and Computer Vision Lab ENSTA-ParisTech 828 Blvd des Marechaux 91762 Palaiseau France

ISBN: (纸本)9781467364027

A good adjustable control system is a system that can adapt its behaviors according to the user's state over time. While most researches in Human-Robot Cooperation focus on making the robotic system more efficient and effective in task accomplishment, we argue that very few works tried to model the human operator. In this paper, we discuss several aspects related to the human operator that we consider important for an efficient Human-Robot Cooperation. Furthermore, we present a tentative architecture of an adjustable control system, where these aspects are emphasized. © 2013 IEEE.

关键词： Control systems

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2013 IEEE Conference on computer vision and Pattern Recognition Workshops, CVPRW 2013

作者： Ohn-Bar, Eshed Trivedi, Mohan M. Computer Vision and Robotics Research Lab University of California San Diego CA 92093-0434 United States

ISBN: (纸本)9780769549903

We propose a set of features derived from skeleton tracking of the human body and depth maps for the purpose of action recognition. The descriptors proposed are easy to implement, produce relatively small-sized feature sets, and the multi-class classification scheme is fast and suitable for real-time applications. We intuitively characterize actions using pairwise affinities between view-invariant joint angles features over the performance of an action. Additionally, a new descriptor for spatio-temporal feature extraction from color and depth images is introduced. This descriptor involves an application of a modified histogram of oriented gradients (HOG) algorithm. The application produces a feature set at every frame, and these features are collected into a 2D array which then the same algorithm is applied to again (the approach is termed HOG2). Both feature sets are evaluated in a bag-of-words scheme using a linear SVM, showing state-of-the-art results on public datasets from different domains of human-computer interaction. © 2013 IEEE.

关键词： Human computer interaction

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A novel feature extracting method for dynamic gesture recognition based on support vector machine

A novel feature extracting method for dynamic gesture recogn...

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International Conference on Information and Automation (ICIA)

作者： Yuanrong Xu Qianqian Wang Xiao Bai Yen-Lun Chen Xinyu Wu Shenzhen Key Lab for Computer Vision and Pattern Recognition Chinese Academy of Sciences University of Science and Technology of China Dept. Mechanical and Automation Engineering The Chinese University of Hong Kong Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences

In this paper, we propose a method based on the SVM algorithm to recognize dynamic hand gestures. The information of motion trajectory is captured by a leap motion in three-dimension space. A new methodology of feature extracting is proposed to guarantee the length of samples being the same. The elements of feature vectors are ranged according to two different criteria: one is the amplitude of the variation of orientation angles, and the other criterion is the order of the appearance of features. Experimental results show that this method can classify the dynamic hand gestures effectively.

关键词： Vectors Trajectory Feature extraction Equations Mathematical model Hidden Markov models Automation

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Dynamic hand gesture early recognition based on Hidden Semi-Markov Models

Dynamic hand gesture early recognition based on Hidden Semi-...

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IEEE International Conference on robotics and Biomimetics

作者： Qianqian Wang Yuanrong Xu Yen-Lun Chen Yong Wang Xinyu Wu University of Science and Technology of China Shenzhen Key Lab for Computer Vision and Pattern Recognition Chinese Academy of Sciences Dept. Mechanical and Automation Engineering The Chinese University of Hong Kong. Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences

ISBN: (纸本)9781479973989

Real-time performance can be greatly improved, if the early recognition is implemented. In this paper, a dynamic hand gesture early recognition system is proposed. The system can recognize the gesture before it is completed. Our method is based on the Hidden Semi-Markov Models. Three-dimensional information of the gesture trajectory collected by leapmotion is the main data we used. Experiments on the dataset which we established demonstrate the effectiveness of our method.

关键词： Hidden Markov models Gesture recognition Training Conferences Trajectory Arrays

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Compensation for multipath in ToF camera measurements supported by photometric calibration and environment integration

Compensation for multipath in ToF camera measurements suppor...

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9th International Conference on computer vision Systems, ICVS 2013

作者： Fuchs, Stefan Suppa, Michael Hellwich, Olaf DLR Robotics and Mechatronics Center Weßling Germany Technische Universität Berlin Computer Vision and Remote Sensing Germany

ISBN: (纸本)9783642394010

Multipath is a prominent phenomenon in Time-of-Flight camera images and distorts the measurements by several centimetres. It troubles applications that demand for high accuracy, such as robotic manipulation or mapping. This paper addresses the photometric processes that cause multipath interference. It formulates an improved multipath model and designs a compensation process in order to correct the multipath-related errors. A calibration of the ToF illumination supports the process. The proposed approach, moreover, allows to include an environment model. The positive impact of this process is demonstrated. © 2013 Springer-Verlag.

关键词： Calibration

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Robust computer vision Techniques for High-Quality 3D Modeling

Robust Computer Vision Techniques for High-Quality 3D Modeli...

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Asian Conference on Pattern Recognition (ACPR)

作者： Joon-Young Lee Jiyoung Jung Yunsu Bok Jaesik Park Dong-Geol Choi Yudeog Han In So Kweon Robotics and Computer Vision Lab KAIST

In this paper, we present our recent sensor fusion approaches to obtain high-quality 3D information. We first discuss two fusion methods that combine geometric and photometric information. The first method, multiview photometric stereo, reconstructs the full 3D shape of a target object. The geometric and photometric information is efficiently fused by using a planar mesh representation. The second method performing shape-from shading with a Kinect sensor estimates the shape of an object under uncalibrated natural illumination. Since the method uses a single RGB-D input, it is capable of capturing the high quality shape details of a dynamic object under varying illumination. Subsequently, we summarize a calibration algorithm of a time of-flight (ToF) sensor and a camera fusion system with a 2.5D pattern. Lastly, we present a camera-laser sensor fusion system for the large-scale 3D reconstruction.

关键词： Three-dimensional displays Lighting Cameras Calibration Geometry Estimation Shape

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Automated classification of therapeutic face exercises using the kinect

Automated classification of therapeutic face exercises using...

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8th International Conference on computer vision Theory and Applications, VISAPP 2013

作者： Lanz, Cornelia Olgay, Birant Sibel Denzler, Joachim Gross, Horst-Michael Neuroinformatics and Cognitive Robotics Lab Ilmenau University of Technology Ilmenau Germany Computer Vision Group Friedrich Schiller University Jena Jena Germany

ISBN: (纸本)9789898565471

In this work, we propose an approach for the unexplored topic of therapeutic facial exercise recognition using depth images. In cooperation with speech therapists, we determined nine exercises that are beneficial for therapy of patients suffering from dysfunction of facial movements. Our approach employs 2.5D images and 3D point clouds, which were recorded using Microsoft's Kinect. Extracted features comprise the curvature of the face surface and characteristic profiles that are derived using distinctive landmarks. We evaluate the discriminative power and the robustness of the features with respect to the above-mentioned application scenario. Using manually located face regions for feature extraction, we achieve an average recognition accuracy of about 91% for the nine facial exercises. However in a real-world scenario manual localization of regions for feature extraction is not feasible. Therefore, we additionally examine the robustness of the features and show, that they are beneficial for a real-world, fully automated scenario as well.

关键词： Feature extraction

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Intervention AUVs: The Next Challenge

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IFAC Proceedings Volumes 2014年第3期47卷 12146-12159页

作者： Pere Ridao Marc Carreras David Ribas Pedro J. Sanz Gabriel Oliver Computer Vision and Robotics Research Institute Scientific and Technological Park of the University of Girona CIRS Building C/ Pic de Peguera CO 17071 Girona Catalonia - Spain Universitat Jaume I (UJI) Av. Vicent Sos Banyat S/N 12006 Castelln Spain Universitat de les Illes Balears (UIB) Cra. Valldemossa Km 7.5 07122 Palma Spain

While commercially available AUVs are routinely used in survey missions, a new set of applications exists which clearly demand intervention capabilities. The maintenance of: permanent observatories underwater; submerged oil wells; cabled sensor networks; pipes; and the deployment and recovery of benthic stations are but a few of them. These tasks are addressed nowadays using manned submersibles or work-class ROVs, equipped with teleoperated arms under human supervision. Although researchers have recently opened the door to future I-AUVs, a long path is still necessary to pave the way to underwater intervention applications performed in an autonomous way. This paper reviews the evolution timeline in autonomous underwater intervention systems. Milestone projects in the state of the art are reviewed, highlighting their principal contributions to the field. To the best of the authors knowledge only three vehicles have demonstrated some autonomous intervention capabilities so far: ALIVE, SAUVIM and GIRONA 500 I-AUV. Next, GIRONA 500 I-AUV is presented and its software architecture discussed. Recent results in different scenarios are reported: 1) Valve turning and connector plugging/unplugging while docked to a sub-sea panel, 2) Free floating valve turning using learning by demonstration, and 3) Free floating multipurpose multisensory based object recovery. The paper ends discussing the lessons learned so far and presenting the authors view of the future.

关键词： Autonomous Vehicles Robotic Manipulators Marine Systems

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