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A computer vision sensor for panoramic depth perception

A computer vision sensor for panoramic depth perception

引用

Second Iberian Conference on Pattern Recognition and Image Analysis, IbPRIA 2005

作者： Orghidan, Radu Mouaddib, El Mustapha Salvi, Joaquim Institute of Informatics and Applications Computer Vision and Robotics Group University of Girona Girona Spain Centre de Robotique Électrotechnique et Automatique Université de Picardie Jules Verne Amiens France

A practical way for obtaining depth in computer vision is the use of structured light systems. For panoramic depth reconstruction several images are needed which most likely implies the construction of a sensor with mobile elements. Moreover, misalignments can appear for non-static scenes. Omnidirectional cameras offer a much wider field of view than the perspective ones, capture a panoramic image at every moment and alleviate the problems due to occlusions. This paper is focused on the idea of combining omnidirectional vision and structured light with the aim to obtain panoramic depth information. The resulting sensor is formed by a single catadioptric camera and an omnidirectional light projector. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Image sensors

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Throat microphone signal for speaker recognition 8

Throat microphone signal for speaker recognition

引用

8th International Conference on Spoken Language Processing, ICSLP 2004

作者： Shahina, A. Yegnanarayana, B. Kesheorey, M.R. Speech and Vision Laboratory Department of Computer Science and Engg. Indian Institute of Technology Madras Chennai600 036 India Center for Artificial Intelligence and Robotics Bangalore560 001 India

Speaker recognition systems perform better when clean speech signals are used for the task. In the presence of high levels of background noise, speech recorded from a close speaking microphone will be degraded and hence the performance of the speaker recognition system. Use of a transducer held at the throat results in a signal that is clean even in a noisy environment. This paper discusses the prospect of using such signals for speaker recognition. A study of a text-independent speaker recognition system based on features extracted from speech simultaneously recorded using a throat microphone and a close-speaking microphone in clean and simulated noisy conditions is conducted. Autoassociative neural networks are used to model the speaker characteristics based on the vocal tract system and excitation source features represented by weighted linear prediction cepstral coefficients and linear prediction residual, respectively. The results of experimental studies show that the speech collected from the throat microphone can be used for tasks like speaker recognition, especially in noisy conditions.

关键词： Microphones

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Underwater Acoustic Localization using pose-graph SLAM

Underwater Acoustic Localization using pose-graph SLAM

引用

OCEANS

作者： Marta Real Pau Vial Narcís Palomeras Marc Carreras Computer Vision and Robotics Research Institute (VICOROB) University of Girona Girona Spain

Current acoustic localization systems for Autonomous Underwater Vehicles (AUV) rely on acoustic beacons at known positions. We present a method that combines rangeonly acoustic measures and odometry data into a factor graph structure, able to compute the AUV localization while estimating the position of the acoustic beacons without having previous information about their position. We designed several missions and carried them out in a real environment to gather data to test our algorithm offline. The output of this work is a pose-graph SLAM algorithm that combines the AUV internal measurements (i.e. DVL, IMU, and depth) with acoustic ranges from static beacons to estimate both the AUV state and the beacon’s position.

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Creating 360° Underwater Virtual Tours Using an Omnidirectional Camera Integrated in an AUV

Creating 360° Underwater Virtual Tours Using an Omnidirecti...

引用

OCEANS

作者： Josep Bosch Pere Ridao David Ribas Nuno Gracias Computer Vision and Robotics Institute (VICOROB) University of Girona 17071 Girona Spain

ISBN: (纸本)9781479987375

The use of omnidirectional cameras underwater is enabling many new and exciting applications in multiple fields. Among these, the creation of virtual tours from omnidirectional image surveys is expected to have a large impact in terms of science and conservation outreach. These surveys can be performed by Remotely Operated Vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs) that can cover large marine areas with precise navigation. Virtual tours are relevant in zones of special interest such as shipwrecks or underwater nature reserves for both scientists and the general public. This paper presents the first results of surveys carried out by an AUV equipped with an omnidirectional underwater camera, and explores the process of automatically creating virtual tours from the most relevant images of the datasets.

关键词： Using Omnidirectional Camera

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Inspecting Mega Solar Plants through computer vision and Drone Technologies

Inspecting Mega Solar Plants through Computer Vision and Dro...

引用

2022 International Conference on Frontiers of Information Technology, FIT 2022

作者： Ahmed, Syed Umaid Affan, Muhammad Raza, Muhammad Ilyas Harris Hashmi, Muhammad National University of Computer and Emerging Sciences Department of Computer Sciences Karachi Pakistan University of Toulon SeaTech School of Engineering La Garde France Vision Innopolis University Institute of Robotics and Computer Innopolis Russia University of Alabama at Birmingham Department of Computer Science Birmingham United States

ISBN: (纸本)9798350345933

This research presents a unique approach for monitoring the large-scale grid-connected photovoltaic modules in solar power plants using state-of-art object detection YOLOv5 algorithm and classical image processing techniques. We have highlighted an integral part of the fully automated system in which a drone takes flight over the solar park and shoot the videos. Videos are preprocessed and used for trained YOLOv5 model to recognize the clean and dirty panels. The process is defined for a selected site and can be implemented using a Raspberry Pi. This system processes the images taken by drones, generates a report, and sends it to the concerned department automatically via email every day so that timely maintenance can be done for the long-life and safe operation of solar arrays. The inspection timeline for the same process was about one hundred and twenty hours, reduced to five minutes. It means that 99.93% of the time is saved through vision and robust automation techniques. © 2022 IEEE.

关键词： Drones

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Multi-beam terrain/object classification for underwater navigation correction

Multi-beam terrain/object classification for underwater navi...

引用

OCEANS - Europe

作者： Albert Palomer Pere Ridao David Ribas Guillem Vallicrosa Computer Vision and Robotics (VICOROB) institute Universitat de Girona Girona Spain

Building accurate bathymetries of the seabed has been a focus of study in the last decade. For this purpose seabed point cloud registration has been a focus for some researchers. Some of this registration methods are based on gathering the points of the cloud that contain more information for the registration (i.e. the ones that flat or smooth, normally being the seabed) and using them as part of ICP-derived methods. For this point picking purpose, we present a segmentation technique that distinguish between objects (interesting for registration) and ground (smooth and not interesting for registration). The method proposed here uses difference of normals for object's border detection and a variation of the Density-Based Spatial Clustering of Application with Noise for object clustering. Once the objects boundaries are detected and the points are clustered the rest of the points are classified as object or ground. This classification is done by taking all the points that lie within the object's border and checking it's depth compare to its closes border point. The method is evaluated using a multi-beam dataset gathered on the La Lune shipwreck, a site of archaeological interest.

关键词： Three-dimensional displays Clustering algorithms Sonar Benchmark testing Robots Noise Underwater vehicles

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3D Modeling from Wide Baseline Range Scans using Contour Coherence

3D Modeling from Wide Baseline Range Scans using Contour Coh...

引用

IEEE Conference on computer vision and Pattern Recognition

作者： Ruizhe Wang Jongmoo Choi Gerard Medioni Computer Vision Lab Institute for Robotics and Intelligent Systems University of Southern California

Registering 2 or more range scans is a fundamental problem, with application to 3D modeling. While this problem is well addressed by existing techniques such as ICP when the views overlap significantly at a good initialization, no satisfactory solution exists for wide baseline registration. We propose here a novel approach which leverages contour coherence and allows us to align two wide baseline range scans with limited overlap from a poor initialization. Inspired by ICP, we maximize the contour coherence by building robust corresponding pairs on apparent contours and minimizing their distances in an iterative fashion. We use the contour coherence under a multi-view rigid registration framework, and this enables the reconstruction of accurate and complete 3D models from as few as 4 frames. We further extend it to handle articulations, and this allows us to model articulated objects such as human body. Experimental results on both synthetic and real data demonstrate the effectiveness and robustness of our contour coherence based registration approach to wide baseline range scans, and to 3D modeling.

关键词： Three-dimensional displays Coherence Robustness Cameras Iterative closest point algorithm Shape Vectors

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Classifying textures when seen from different distances

Classifying textures when seen from different distances

引用

作者： Lladó, X. Petrou, M. Centre for Vision Speech and Signal Processing University of Surrey Guildford GU2 7XH United Kingdom Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona 17071 Girona Spain

The purpose of this work is to analyse what happens to the surface information when the image resolution is modified. We deduce how the same surface appears if seen from different distances. Using 4-source Colour Photometric Stereo, which provides the surface shape and colour information, a method for predicting how surface texture looks like when changing the distance of the camera is presented. We demonstrate this technique by classifying textured surfaces seen from different distances than the textured surfaces in the database. © 2002 IEEE.

关键词： Classification (of information)

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Automated industrial quality control of pipe stacks using computer vision 4th

Automated industrial quality control of pipe stacks using co...

引用

4th International Conference on computer vision and Image Processing, CVIP 2019

作者： Chatterjee, Sayantan Chaudhuri, Bidyut B. Nandi, Gora C. Department of Robotics and Artificial Intelligence Indian Institute of Information Technology Allahabad AllahabadUttar Pradesh211012 India Department of Computer Vision and Pattern Recognition Indian Statistical Institute Kolkata KolkataWest Bengal700108 India

ISBN: (纸本)9789811540141

In this work, we describe an automated quality assurance system for pipes in warehouses and yards using simple handheld and mobile equipment like smartphone cameras. Currently, quality inspection for bent and crooked pipe ends is done manually, which entails additional labour costs and is relatively slower than a mechanised approach. We propose an efficient and robust method of detecting the perfectly circular cross-sections of the pipes in stacks using an adaptive variation of Hough Transform algorithm. As a multistage approach, our proposed method first intensifies the foreground features relative to the background and then applies Canny edge detection to obtain the gradient details. The gradient directions are in turn fed to the modified Hough Transform algorithm using Hough gradient to detect the cross-sections. The novel Hough Transform modification features a region-based processing in a "coarse to fine" manner by dividing the image into smaller grids and detecting circular cross-sections per grid, which has computational advantages of using a smaller accumulator and is less memory intensive. Experiments were performed on real industrial images to validate the efficiency of the proposed algorithm and the results show that the proposed method can successfully and accurately highlight the perfectly circular cross-sections while leaving the faulty pipe-ends undetected. © Springer Nature Singapore Pte Ltd 2020.

关键词： Hough transforms

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Calibration of A Structured Light-Based Stereo Catadioptric Sensor

Calibration of A Structured Light-Based Stereo Catadioptric ...

引用

IEEE computer Society Conference on computer vision and Pattern Recognition Workshops (CVPRW)

作者： Radu Orghidan Joaquim Salvi El Mustapha Mouaddib Computer Vision and Robotics Group Institute of Informatics and Applications Girona Catalonia Spain

Catadioptric sensors are combinations of mirrors and lenses made in order to obtain a wide field of view. In this paper we propose a new sensor that has omnidirectional viewing ability and it also provides depth information about the nearby surrounding. The sensor is based on a conventional camera coupled with a laser emitter and two hyperbolic mirrors. Mathematical formulation and precise specifications of the intrinsic and extrinsic parameters of the sensor are discussed. Our approach overcomes limitations of the existing omni-directional sensors and eventually leads to reduced costs of production.

关键词： Mirrors Cameras Mathematical model Robot sensing systems Equations Laser modes Lasers

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