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检索条件"机构=Computer Vision and Robotics"

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On the Spacetime Geometry of Galilean Cameras

On the Spacetime Geometry of Galilean Cameras

引用

Conference on computer vision and Pattern Recognition (CVPR)

作者： Yaser Sheikh Alexei Gritai Mubarak Shah Robotics Institute Carnegie Mellon University USA Computer Vision Laboratory University of Central Florida USA

In this paper, a projection model is presented for cameras moving at constant velocity (which we refer to as Galilean cameras). To that end, we introduce the concept of spacetime projection and show that perspective imaging and linear pushbroom imaging are specializations of the proposed model. The epipolar geometry between two such cameras is developed and we derive the Galilean fundamental matrix. We show how six different "fundamental" matrices can be directly recovered from the Galilean fundamental matrix including the classic fundamental matrix, the linear pushbroom (LP) fundamental matrix and a fundamental matrix relating epipolar plane images (EPIs). To estimate the parameters of this fundamental matrix and the mapping between videos in the case of planar scenes we describe linear algorithms and report experimental performance of these algorithms.

关键词： Cameras Transmission line matrix methods Videos Robot vision systems Layout computer vision Laboratories Parameter estimation Computational geometry Orbital robotics

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A Comparison of Color and Infrared Stereo Approaches to Pedestrian Detection

A Comparison of Color and Infrared Stereo Approaches to Pede...

引用

IEEE Symposium on Intelligent Vehicle

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

This paper presents an analysis of color and infrared stereo approaches to pedestrian detection. We design a four camera experimental testbed consisting of two color and two infrared cameras that allows for synchronous capture and direct frame-by-frame comparison of pedestrian detection approaches. We incorporate this four camera system in a test vehicle and conduct comparative experiments of stereo-based approaches to obstacle detection using color and infrared imagery. A detailed analysis of these experiments shows the robustness of both color and infrared stereo imagery to generate the dense stereo maps necessary for robust object detection and motivates investigation of color and infrared features that can be used to further classify detected obstacles into pedestrian regions. The complementary nature of color and infrared features gives rise to a discussion of a feature fusion techniques, including a cross-spectral stereo solution to pedestrian detection.

关键词： Infrared detectors Image color analysis Cameras Infrared imaging Robustness Object detection System testing Vehicle detection Image analysis Fusion power generation

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On the Direct Estimation of the Fundamental Matrix

On the Direct Estimation of the Fundamental Matrix

引用

Conference on computer vision and Pattern Recognition (CVPR)

作者： Yaser Sheikh Asaad Hakeem Mubarak Shah Robotics Institute Carnegie Mellon University USA Computer Vision Laboratory University of Central Florida USA

The fundamental matrix is a central construct in the analysis of images captured from a pair of cameras and many feature-based methods have been proposed for its computation. In this paper, we propose a direct method for estimating the fundamental matrix where the motion between the frames is small (e.g. between successive frames of a video). To achieve this, a warping function is presented for the fundamental matrix by using the brightness constancy constraint in conjunction with geometric constraints. Using this warping function, an iterative hierarchical algorithm is described to recover accurate estimates of the fundamental matrix. We present results of experimentation to evaluate the performance of the proposed approach and demonstrate improved accuracy in the computation of the fundamental matrix.

关键词： Transmission line matrix methods Motion estimation computer vision Cameras Iterative algorithms Iterative methods Robot vision systems Laboratories Image analysis Brightness

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View-invariant human feature extraction for video-surveillance applications

View-invariant human feature extraction for video-surveillan...

引用

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

作者： Gregory Rogez J.J. Guerrero Carlos Orrite Computer Vision Lab University of Zaragoza Spain Robotics Perception and Real Time Group University of Zaragoza Spain

We present a view-invariant human feature extractor (shape+pose) for pedestrian monitoring in man-made environments. Our approach can be divided into 2 steps: firstly, a series of view-based models is built by discretizing the viewpoint with respect to the camera into several training views. During the online stage, the Homography that relates the image points to the closest and most adequate training plane is calculated using the dominant 3D directions. The input image is then warped to this training view and processed using the corresponding view-based model. After model fitting, the inverse transformation is performed on the resulting human features obtaining a segmented silhouette and a 2D pose estimation in the original input image. Experimental results demonstrate our system performs well, independently of the direction of motion, when it is applied to monocular sequences with high perspective effect.

关键词： Humans Feature extraction Cameras Shape Legged locomotion Application software computer vision Image segmentation Surveillance Proposals

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A biologically inspired approach for the control of the hand

A biologically inspired approach for the control of the hand

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Congress on Evolutionary Computation

作者： Emmanouil Hourdakis Michail Maniadakis Panos Trahanias Computational Vision and Robotics Laboratory Foundation for Research and Technology Hellas Heraklion Greece Department of Computer Science University of Crete Greece Postdoctoral researcher with the Computational Vision and Robotics Laboratory Foundation for Research and Technology Hellas Heraklion Greece Head of the Computational Vision and Robotics Laboratory Foundation for Research and Technology Hellas Heraklion Greece Professor with the Department of Computer Science University of Crete Greece

The control of the hand in primate species is characterized by a high dimensionality, due to the large number of joints in the fingers. In this study we present how its manipulation can be simplified without compromising its usage, through a constraint methodology that is inspired from recent neurobiological findings. We further develop a computational model, consisting of several brain areas related to hand control, using a co-evolutionary architecture. Due to its neurobiological basis the methodology gives rise to a number of emergent properties that have been shown to occur in primate species during reach-to-grasp tasks.

关键词： Biological control systems Brain modeling computer science computer architecture Biological system modeling Computational modeling Neurons Biological neural networks computer vision Robot kinematics

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A Cable-driven Parallel Mechanism for Capturing Object Appearance from Multiple Viewpoints

A Cable-driven Parallel Mechanism for Capturing Object Appea...

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： J.-D. Deschenes P. Lambert S. Perreault N. Martel-Brisson N. Zoso A. Zaccarin P. Hebert S. Bouchard C. M. Gosselin Computer Vision and Systems Laboratory Laval University Canada Robotics Laboratory at the Department of Mechanical Engineering Laval University Canada

This paper presents the full proof of concept of a system for capturing the light field of an object. It is based on a single high resolution camera that is moved all around the object on a cable-driven end-effector. The main advantages of this system are its scalability and low interference with scene lighting. The camera is accurately positioned along hemispheric trajectories by observing target features. From the set of gathered images, the visual hull is extracted and can be used as an approximate geometry for mapping a surface light field. The paper describes the acquisition system as well as the modeling process. The ability of the system to produce models is validated with four different objects whose sizes range from 20 cm to 3 m.

关键词： Cameras Robot vision systems Cable TV Laboratories Trajectory Geometry Cables computer vision Mechanical engineering Scalability

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Modeling Overlapping Execution/Observation Brain Pathways

Modeling Overlapping Execution/Observation Brain Pathways

引用

International Joint Conference on Neural Networks (IJCNN)

作者： Michail Maniadakis Manolis Hourdakis Panos Trahanias Computational Vision and Robotics Laboratory Institute of Computer Science Foundation for Research and Technology Hellas Heraklion Greece Department of Computer Science University of Crete Greece

Recent brain imaging studies on primates revealed that a network of brain areas is activated both during observation and during execution of movements. The present work aims at modeling this group of areas, implementing a distributed computational system. The modeling process follows the agent-based coevolutionary framework that is very effective in terms of designing complex distributed systems addressing successfully the multi-modality of the interacting regions. The implemented model is successfully embedded in a simulated humanoid robot, replicating existing biological findings.

关键词： Brain modeling Biological system modeling computer science Computational modeling computer architecture computer vision Robot vision systems Laboratories Humanoid robots Humans

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Evaluation of a Parallel Architecture and Algorithm for Mapping and Localization

Evaluation of a Parallel Architecture and Algorithm for Mapp...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： Damian M. Lyons Giselle R. Isner Robotics and Computer Vision Laboratory of the Computer & Information Science Department Fordham University Bronx NY USA Computer & Information Science Department Fordham University Bronx NY USA

The Beowulf cluster approach to parallel computation offers a potentially cheap and robust source of computational power for high complexity algorithms in robotics. The challenge is to integrate this approach with the mobility and time critical response constraints of many robotic algorithms. The key contributions of this paper are: (1) introduction of a computational architecture for integrating a cluster into the control architecture of one or more robots, (2) a cluster implementation of Thrun et al's Concurrent Localization and Mapping (CML) algorithm, and (3) presentation of results to illustrate the performance of the implemented CML algorithm and validate the architectural approach.

关键词： Parallel architectures computer architecture Clustering algorithms Concurrent computing Robot sensing systems robotics and automation Mobile robots Navigation Space technology Computational intelligence

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Detection of thrown objects in indoor and outdoor scenes

Detection of thrown objects in indoor and outdoor scenes

引用

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Evan Ribnick Stefan Atev Nikos Papanikolopoulos Osama Masoud Richard Voyles AI Robotics and Vision Laboratory University of Minnesota France Vital Images Inc. Minnetonka MN USA Department of Computer Engineering University of Denver USA

We present a novel technique for the detection of thrown objects and other free-flying bodies in video sequences. Our method runs in real-time and was designed to be used as a component in a deployed surveillance system. We detect regions of interesting motion that fit certain size, compactness and speed criteria, and use the expectation maximization algorithm to detect objects on parabolic trajectories over a short time window. The system was shown to successfully detect thrown objects of various sizes in a large test set of indoor and outdoor videos.

关键词： Object detection Layout Motion detection Video sequences Image segmentation Intelligent robots Video surveillance Humans Monitoring History

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Suborbital flight test of a prototype terrain-relative navigation system

Suborbital flight test of a prototype terrain-relative navig...

引用

2007 AIAA InfoTech at Aerospace Conference

作者： Seybold, Calina Chen, George Bellutta, Paolo Johnson, Andrew Matthies, Larry Thurman, Sam Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States System Engineering Section M/S 233-201 4800 Oak Grove Drive United States AIAA United States EDL Systems and Advanced Technologies Group System Engineering Section M/S 301-490 Mobility and Robotic Systems Section M/S 198-235 United States Computer Vision Group Mobility and Robotics Systems Section M/S 198-235 United States Autonomous Systems Division M/S 198-105

ISBN: (纸本)1563478935

In April 2006, a terrain-relative navigation experiment successfully flew on a sounding rocket mission at White Sands Missile Range. The mission was designated by NASA/Wallops Flight Facility as 41.068 NT/Seybold ("41.068") and was flown as part of the New Millennium Program ST9 Terrain-Relative Guidance System (TRGS) Project's competitive Phase A effort. The TRN experiment had two objectives: 1) To demonstrate the viability of a navigation filter for precision landing that uses on-board IMU and descent image data to achieve position knowledge errors of less than 100m, validated with GPS data recorded during flight;and 2) To establish that commercial off-the-shelf cameras can be packaged sufficiently well to survive the sounding rocket launch environment. Both objectives were met. The 13 min flight provided a data set that was processed post-flight through the prototype algorithms to bring the ST9 TRGS Project to a technology readiness level of 4 in TRN. This paper describes the flight system development and operations of the TRN experiment on 41.068.

关键词： Flight control systems

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