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检索条件"机构=Computer Vision and Robotics"

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Activity recognition in wide aerial video surveillance using entity relationship models 12

Activity recognition in wide aerial video surveillance using...

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20th ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems, ACM SIGSPATIAL GIS 2012

作者： Choi, Jongmoo Dumortier, Yann Prokaj, Jan Medioni, Gérard Computer Vision Lab. Institute for Robotics and Intelligent Systems University of Southern California United States

ISBN: (纸本)9781450316910

We present the design and implementation of an activity recognition system in wide area aerial video surveillance using Entity Relationship Models (ERM). In this approach, finding an activity is equivalent to sending a query to a Relational DataBase Management System (RDBMS). By incorporating reference imagery and Geographic Information System (GIS) data, tracked objects can be associated with physical meanings, and several high levels of reasoning, such as traffic patterns or abnormal activity detection, can be performed. We demonstrate that different types of activities, with hierarchical structure, multiple actors, and context information, are effectively and efficiently defined and inferred using the ERM framework. We also show how visual tracks can be better interpreted as activities by using geo information. Experimental results on both real visual tracks and GPS traces validate our approach. © 2012 Authors.

关键词： Security systems

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Efficient Target Visiting Path Planning for Multiple Vehicles with Bounded Curvature

Efficient Target Visiting Path Planning for Multiple Vehicle...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Douglas G. Macharet Armando Alves Neto Vilar F. da Camara Neto Mario F. M. Campos Computer Vision and Robotics Laboratory (VeRLab) Computer Science Department Universidade Federal de Minas Gerais MG Brazil. Telecommunication and Mechatronic Department Universidade Federal de S?o Jo?o del-Rei MG Brazil. Funda??o Centro de Análise Pesquisa e Inova??o Tecnológica (FUCAPI) Manaus AM Brazil.

ISBN: (纸本)9781467363563

In this paper, we introduce the k-Dubins Traveling Salesman Problem with Neighborhoods (k-DTSPN), the problem of planning efficient paths among target regions for multiple robots with bounded curvature constraints (Dubins vehicles). This paper presents two approaches for the problem. Firstly, we present a heuristic that solves it in two steps, based on classical techniques found in the literature. Secondly, we employ a Memetic Algorithm to solve both combinatorial and continuous phases of the problem in a combined manner. We provide formal analysis about both proposed techniques, presenting upper bounds to the length of the longest tour. Numerous trials in simulated environments were executed, providing statistical examination of the final results.

关键词： Bounded Curvature k-DTSPN bounded curvature constraints (Dubins vehicles) Cooperating robots vehicle formal analysis Curvature Bounded Path planning Upper bound Heuristics Targets travelling salesman problems

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A comprehensive analysis of human motion capture data for action recognition

A comprehensive analysis of human motion capture data for ac...

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International Conference on computer vision Theory and Applications, VISAPP 2012

作者： Ntouskos, Valsamis Papadakis, Panagiotis Pirri, Fiora Department of Computer and System Sciences Vision Perception and Cognitive Robotics Laboratory University of Rome la Sapienza Rome Italy

ISBN: (纸本)9789898565037

In this paper, we present an analysis of human motion that can assist the recognition of human actions irrespective of the selection of particular features. We begin with an analysis on the entire set of preclassified motions in order to derive the generic characteristics of articulated human motion and complement the analysis by a more detailed inter-class analysis. The statistical analysis concerns features that describe the significancecontribution of the human joints in performing an action. Furthermore, we adopt a hierarchical analysis on the human body itself in the study of different actions, by grouping joints that share common characteristics. We present our experiments on standard databases for human motion capture data as well as a new commercial dataset with additional classes of human motion and highlight certain interesting results.

关键词： Motion analysis

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Constraint-free topological mapping and path planning by maxima detection of the kernel spatial clearance density

Constraint-free topological mapping and path planning by max...

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1st International Conference on Pattern Recognition Applications and Methods, ICPRAM 2012

作者： Papadakis, Panagiotis Gianni, Mario Pizzoli, Matia Pirri, Fiora Department of Computer and System Sciences ALCOR Vision Perception and Cognitive Robotics Laboratory University of Rome La Sapienza Rome Italy

ISBN: (纸本)9789898425980

Asserting the inherent topology of the environment perceived by a robot is a key prerequisite of high-level decision making. This is achieved through the construction of a concise representation of the environment that endows a robot with the ability to operate in a coarse-to-fine strategy. In this paper, we propose a novel topological segmentation method of generic metric maps operating concurrently as a path-planning algorithm. First, we apply a Gaussian Distance Transform on the map that weighs points belonging to free space according to the proximity of the surrounding free area in a noise resilient mode. We define a region as the set of all the points that locally converge to a common point of maximum space clearance and employ a weighed meanshift gradient ascent onto the kernel space clearance density in order to detect the maxima that characterize the regions. The spatial intra-connectivity of each cluster is ensured by allowing only for linearly unobstructed mean-shifts which in parallel serves as a path-planning algorithm by concatenating the consecutive mean-shift vectors of the convergence paths. Experiments on structured and unstructured environments demonstrate the effectiveness and potential of the proposed approach.

关键词： Motion planning

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OUR-CVFH - Oriented, unique and repeatable clustered viewpoint feature histogram for object recognition and 6DOF pose estimation

OUR-CVFH - Oriented, unique and repeatable clustered viewpoi...

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Joint 34th Symposium of the German Association for Pattern Recognition, DAGM 2012 and 36th Symposium of the Austrian Association for Pattern Recognition, OAGM 2012

作者： Aldoma, Aitor Tombari, Federico Rusu, Radu Bogdan Vincze, Markus Vision4Robotics Group ACIN Vienna University of Technology Austria Computer Vision Lab. DEIS - ARCES University of Bologna Italy Open Perception Inc. United States

ISBN: (纸本)9783642327162

We propose a novel method to estimate a unique and repeatable reference frame in the context of 3D object recognition from a single viewpoint based on global descriptors. We show that the ability of defining a robust reference frame on both model and scene views allows creating descriptive global representations of the object view, with the beneficial effect of enhancing the spatial descriptiveness of the feature and its ability to recognize objects by means of a simple nearest neighbor classifier computed on the descriptor space. Moreover, the definition of repeatable directions can be deployed to efficiently retrieve the 6DOF pose of the objects in a scene. We experimentally demonstrate the effectiveness of the proposed method on a dataset including 23 scenes acquired with the Microsoft Kinect sensor and 25 full-3D models by comparing the proposed approach with state-of-the-art global descriptors. A substantial improvement is presented regarding accuracy in recognition and 6DOF pose estimation, as well as in terms of computational performance. © 2012 Springer-Verlag.

关键词： Object recognition

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Mapping the Moon: Using a lightweight AUV to survey the site of the 17th century ship ‘La Lune’

Mapping the Moon: Using a lightweight AUV to survey the site...

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OCEANS - Europe

作者： Nuno Gracias Pere Ridao Rafael Garcia Javier Escartín Michel L'Hour Franca Cibecchini Ricard Campos Marc Carreras David Ribas Narcís Palomeras Lluis Magi Albert Palomer Tudor Nicosevici Ricard Prados Ramon Hegedüs Laszlo Neumann Francesco de Filippo Angelos Mallios Computer Vision and Robotics Group University of Girona Spain Equipe de Géosciences Marines IPGP University of Paris Diderot France Équipe de Géosciences Marines IPGP Univ. Paris Diderot France DRASSM Marseille France Max Planck Institute for Informatics Saarbrücken Germany ICREA Barcelona Spain Università della Calabria Italy

This paper describes the use of a research-driven, highly reconfigurable autonomous underwater vehicle for surveying the site of the historical shipwreck of La Lune. This wreck, from the XVII century, lies in 90m of water near the coast of Toulon in France. The goal of this survey was to create a fast but detailed map of the site, to serve as a base map for subsequent archaeological intervention. The paper overviews the survey setup and the methods used to generate a high resolution optical map. It also highlights some of the important advantages that lightweight AUVs present for archaeological survey missions in terms of operational costs, survey time, the quality of both the acquired data and the mapping outcome, and access to deep sites that are not reachable by traditional archaeological methods.

关键词： Marine vehicles Vehicles Optical sensors Navigation Cameras Optical imaging

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Adapting breast density classification from digitized to full-field digital mammograms

Adapting breast density classification from digitized to ful...

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11th International Workshop on Breast Imaging, IWDM 2012

作者： Tortajada, Meritxell Oliver, Arnau Martí, Robert Vilagran, Mariona Ganau, Sergi Tortajada, Lidia Sentís, Melcior Freixenet, Jordi Computer Vision and Robotics University of Girona Girona Spain Department of Breast and Gynecological Radiology UDIAT-Diagnostic Center Parc Taulí Corporation Sabadell Spain

ISBN: (纸本)9783642312700

Mammographic density is strongly associated with breast cancer, being considered one of the most important risk indicators for the development of this type of disease. Likewise, the sensitivity of automatic breast lesion detection systems is significantly dependent on breast tissue characteristics. Therefore, the measurement of density is definitely useful for detecting breast cancer. The aim of this work is to adapt our previously developed automatic breast tissue density classification methodology for digitized mammograms to full-field digital mammograms (FFDM), as well as to evaluate the possible improvements and the classification results. After breast area extraction and peripheral enhancement, the method segments the breast area into fatty and dense tissue, then morphological and texture features from each class are extracted and finally FFDM are classified according to a standard qualitative criteria. Results show a strong correlation (κ∈=∈0.88) between automatic and expert assessments and a better classification correction percentage (CCP = 92%) compared to our earlier work. © 2012 Springer-Verlag Berlin Heidelberg.

关键词： Tissue

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Digital Sand Model using Virtual Reality Workbench

Digital Sand Model using Virtual Reality Workbench

引用

International Conference on computer Communication and Informatics (ICCCI)

作者： Imran A Syed V S Nageli S Sangeeta S Rakshit Computer Vision Group Centre for Artificial Intelligence and Robotics Bangalore INDIA Computer Vision Group Centre for Artificial Intelligence and Robotics Bangalore India

Sand models as used in military are thematic 3D representations of an area of interest which combined the information of maps with a more realistic 3D bird's eye view of the terrain. Sand models have been used for military planning and war gaming for many years as a field expedient, small-scale map, for planning and training of military operations. This, however increasingly fell out of favor with improved maps, aerial and satellite photography, and later, with digital terrain simulations. The proposed system, a Digital Sand Model (DSM) using a Virtual Reality (VR) Workbench, is a digital replica of the same. It involves a leader interacting with the digital environment and other viewers share his view of the digital scene. The system uses a stereoscopic projector, a mirror and Viewing Screen setup to produce a 3D stereoscopic display. This VR system allows performing interactive 3D explorations via stereo camera setup and wearable IR LEDs. A gesture recognition system is also described which allows interaction with the system. The proposed system uses Model-View-Controller (MVC) architecture as the software design.

关键词： Three dimensional displays Solid modeling Computational modeling Cameras Virtual reality Light emitting diodes computers

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REAL-TIME MOTION DETECTION BASED ON DISCRETE COSINE TRANSFORM

REAL-TIME MOTION DETECTION BASED ON DISCRETE COSINE TRANSFOR...

引用

IEEE International Conference on Image Processing

作者： Tae-Hyun Oh Joon-Young Lee In So Kweon Robotics and Computer Vision Laboratory KAIST South Korea

We present a motion detection algorithm by a change detection filter matrix derived from Discrete Cosine Transform. Recently, a Fourier reconstruction scheme shows good results for motion detection. However, its computational cost is a major drawback. We revisit the problem and achieve two orders of magnitude faster than the previous algorithm with better performance. The proposed algorithm runs at about 800 frames per second for VGA resolution images on a consumer hardware by using only integer matrix multiplication and the symmetric property of the change detection filter matrix. In addition, our algorithm is fundamentally robust to sudden illumination changes because it works based on edge information. We verify our algorithm with challenging datasets that contain strong and sudden illumination changes.

关键词： Discrete cosine transforms Motion detection Lighting Vectors Change detection algorithms Robustness Algorithm design and analysis

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Rapid shallow coastal coral reef mapping using the teardrop system

Rapid shallow coastal coral reef mapping using the teardrop ...

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OCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean

作者： Corpuz, Francis James Naval Jr., Prospero Capili, Eusebio Jauod, Jaylord Judilla, Roel John Soriano, Maricor Vision and Image Processing Group National Institute of Physics University of the Philippines Diliman Quezon City Philippines Computer Vision and Machine Intelligence Group Department of Computer Science University of the Philippines Diliman Quezon City Philippines Mapua Robotics Center Institutional Laboratory Mgmt Office Mapua Institute of Technology Intramuros Manila Philippines

ISBN: (纸本)9781467308298

We present a rapid shallow coastal reef mapping system using a previously developed inexpensive diver less video capture system coupled with a fast-image mosaicking technique, using an affordable GPS logging device. The system replaces the traditional manta tow system of assessing and monitoring large areas of coastal coral reefs and at the same time provides historical visual record for future references. The system utilizes Teardrop, a hollow, teardrop-shaped that houses a commercial underwater point-and-shoot camera. The camera is set to video mode and captures video of the reef while the Teardrop is being towed by a wooden fishing boat. The resulting video is parsed into frames and mosaicked by using fast image labeling. The approximate location of the mosaicked images is recorded by using an inexpensive GPS logger. The coordinates are embedded on the mosaicked images and overlaid on mapping software such as Google Earth for visual record and spatial information integration. The same points are used to compute for the total distance covered by the capturing process. The whole process from coral reef video capture to mosaicking the images and finally embedding the mosaics in mapping software can be done in as short as 1 day, providing coastal managers and local government units with a tool to rapidly visualize and monitor shallow coral reefs. © 2012 IEEE.

关键词： Mapping

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