This paper proposes a new technique to reconstruct large 3D scenes from a sequence of video images by combining Bayesian filtering and state-of-art 3D computervision. The approach performs the alignment of a sequence...
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This paper proposes a new technique to reconstruct large 3D scenes from a sequence of video images by combining Bayesian filtering and state-of-art 3D computervision. The approach performs the alignment of a sequence of 3D partial reconstructions of the seafloor thanks to the re-observations of passive landmarks by means of a linear Kalman filter-based SLAM approach. Landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Preliminary results are performed in virtual scenarios but processing real images synthetized from underwater textures.
This paper presents a method to increase the reliability of UAV sensor fault detection in a multi-UAV context. The method uses additional position estimations that augment individual UAV fault detection system. These ...
This paper presents a method to increase the reliability of UAV sensor fault detection in a multi-UAV context. The method uses additional position estimations that augment individual UAV fault detection system. These additional estimations are obtained using images from the same planar scene taken from two different UAVs. Since accuracy and noise level of the estimation depends on several factors, dynamic replanning of the multiUAV team can be used to obtain a better estimation in case of faults caused by slow growing errors of absolute position estimation that cannot be detected by using local FDI in the UAVs. Experimental results with data from two real UAVs are also presented.
Seaflor imagery is a rich source of data for the study of biological processes. Among several application, still images of the ocean floor can be used to build image composites referred to as photo-mosaics. Photo-mosa...
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This paper describes the motivation and learning subsystems of Arisco which is a mechatronic head with interactive capacity which includes high expressivity through gesturing, voice recognition, text to speech generat...
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ISBN:
(纸本)9781424420575
This paper describes the motivation and learning subsystems of Arisco which is a mechatronic head with interactive capacity which includes high expressivity through gesturing, voice recognition, text to speech generation, visual tracking, and internet information retrieval. The general architecture is first described in the paper. Then, the learning capacity of Arisco is addressed. It learns and performs associations between different stimulus responses through several dynamic neural networks, guided by motivational drives. A number of experiments are discussed, covering stimulus competition, habituation, classical and operant conditioning.
The point ambiguity owing to the ambiguous local appearances of image points is the one of the main causes making the stereo problem difficult. Under the point ambiguity, local similarity measures are easy to be ambig...
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ISBN:
(纸本)9781424416301
The point ambiguity owing to the ambiguous local appearances of image points is the one of the main causes making the stereo problem difficult. Under the point ambiguity, local similarity measures are easy to be ambiguous and this results in false matches in ambiguous regions. In this paper, we present the new similarity measure to resolve the point ambiguity problem based on the idea that the distinctiveness, not the interest, is the appropriate criterion for the feature selection under the point ambiguity. The proposed similarity measure named the Distinctive Similarity Measure (DSM) is essentially based on the distinctiveness of image points and the dissimilarity between them, which are both closely related to the local appearances of image points;the distinctiveness of an image point is related to the probability of a mismatch while the dissimilarity is related to the probability of a good match. We verify the efficiency of the proposed DSM by using testbed image sets. Experimental results show that the proposed DSM is very effective and can be easily used for improving the performance of existing stereo methods under the point ambiguity.
This paper proposes a real-time navigation system for an AUV that takes advantage of the complementary performance of a sensor suite including a DVL, a compass, a depth sensor and altimeter sensors with a feature base...
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The hero jumped down the wall, escalated the hill, slid down the rock, climbed the stairs and finally left the vilain behind...In this classical scene, the hero has to move on different types of terrain. Recreating su...
ISBN:
(纸本)9781450347266
The hero jumped down the wall, escalated the hill, slid down the rock, climbed the stairs and finally left the vilain behind...In this classical scene, the hero has to move on different types of terrain. Recreating such a varied spectrum of terrains in a theater scene still remains a challenge.
This paper presents a new framework for a multi-stage multi-view approach for human interactions and activity analysis. The analysis is performed in a distributed vision system that synergistically integrate track- an...
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This paper presents an new framework for homographybased analysis of pedestrian-vehicle activity in crowded scenes. Planar homography constraint is exploited to extract view-invariant object features including footage...
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Accurate segmentation of foreground objects in video scenes is critical for assuring reliable performance of vision systems for object tracking and situational awareness in outdoor scenes. Most existing techniques for...
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