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Support Aggregation via Non-linear Diffusion with Disparity-Dependent Support-Weights for Stereo Matching

引用

9th Asian Conference on computer vision

作者： Yoon, Kuk-Jin Jeong, Yekeun Kweon, In So Computer Vision Lab. Dept. Information and Communications GIST South Korea Robotics and Computer Vision Lab. KAIST South Korea

ISBN: (纸本)9783642123061

In stereo matching, homogeneous areas, depth continuity areas, and occluded areas need more attention. Many methods try to handle pixels in homogeneous areas by propagating supports. As a result, pixels in homogeneous areas get assigned disparities inferred from the disparities of neighboring pixels. However, at the same time, pixels in depth discontinuity areas get supports from different depths and/or from occluded pixels, and resultant disparity maps are easy to be blurred. To resolve this problem, we propose a non-linear diffusion-based support aggregation method. Supports are iteratively aggregated with the support-weights, while adjusting the support-weights according to disparities to prevent incorrect supports from different depths and/or occluded pixels. As a result, the proposed method yields good results not only in homogeneous areas but also in depth discontinuity areas as the iteration goes on without the critical degradation of performance.

关键词： Pixels

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Coping with stress using social robots as emotion-oriented tool: Potential factors discovered from stress game experiment

Coping with stress using social robots as emotion-oriented t...

引用

5th International Conference on Social robotics, ICSR 2013

作者： Dang, Thi-Hai-Ha Tapus, Adriana Robotics and Computer Vision Lab. ENSTA-Paristech France

ISBN: (纸本)9783319026749

It is known from psychology that humans cope with stress by either changing stress-induced situations (which is called problemoriented coping strategy) or by changing his/her internal perception about the stress-induced situations (which is called emotion-oriented coping strategy). Social robots, as emerging tools that have abilities to socially interact with humans, can be of great use to help people coping with stress. The paper discusses some recent studies about ways of dealing with stress in stressful situations by using social robots. Moreover, we focus on presenting our experimental design and the discovered factors that can allow social robots to assist humans in dealing with stress in an emotion-oriented manner. © Springer International Publishing 2013.

关键词： Machine design

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OBJECT DETECTION USING HIERARCHICAL GRAPH-BASED SEGMENTATION

OBJECT DETECTION USING HIERARCHICAL GRAPH-BASED SEGMENTATION

引用

IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Kim, Jungho Choi, Byeongho Kweon, In-So Multimedia IP Research Center KETI Robotics and Computer Vision Lab. KAIST

ISBN: (纸本)9781479903566

Object detection in real images or videos is challenging because the shapes and sizes of objects vary significantly according to their poses, camera viewing direction, and partial occlusion. Previous detection methods employ sliding-window-based schemes that scan windows across an image, requiring many differently shaped windows to capture shape and size variation. In order to solve this problem, we propose an object detection method using hierarchical graph-based segmentation: color-consistent parts are obtained by part-level segmentation and category-consistent regions are found using object-level segmentation. Thus we can avoid scanning a lot of windows across whole images by using part-level segmentation and robustly detect the objects of various shapes and sizes by using object-level segmentation. In addition, we evaluate detection performance using various classifiers with our detection approach.

关键词： Object detection Object classification Graph-based segmentation

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Physiological signals in driving scenario: How heart rate and skin conductance reveal different aspects of driver's cognitive load

Physiological signals in driving scenario: How heart rate an...

引用

International Conference on Physiological Computing Systems, PhyCS 2014

作者： Dang, Thi-Hai-Ha Tapus, Adriana Computer Vision and Robotics Lab. ENSTA-Paris Palaiseau France

ISBN: (纸本)9789897580062

Driver's cognitive load has always been associated with the driver's heart rate activity and his/her skin conductance activity. However, what aspects of cognitive load that these signals relate to have never been clearly studied. This paper presents our preliminary results about the relationship between the different physiological signals (heart rate and skin conductance) and the driver's cognitive load. Via one experiment with simulated car driving environment and one experiment in real flying environment, our data suggests that subjects' heart rate relates to the number of events to be processed by the human driver while the skin conductance relates to the novelty of the driving task. Given the small population involved in these experiments, tests on more subjects are planned and reported in the future. Copyright © 2014 SCITEPRESS - Science and Technology Publications. All rights reserved.

关键词： Automobile drivers

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Globally optimal manhattan frame estimation in real-time

Globally optimal manhattan frame estimation in real-time

引用

2016 IEEE Conference on computer vision and Pattern Recognition, CVPR 2016

作者： Joo, Kyungdon Oh, Tae-Hyun Kim, Junsik Kweon, In So Robotics and Computer Vision Lab. KAIST Korea Republic of

ISBN: (纸本)9781467388511

Given a set of surface normals, we pose a Manhattan Frame (MF) estimation problem as a consensus set maximization that maximizes the number of inliers over the rotation search space. We solve this problem through a branchand-bound framework, which mathematically guarantees a globally optimal solution. However, the computational time of conventional branch-and-bound algorithms are intractable for real-time performance. In this paper, we propose a novel bound computation method within an efficient measurement domain for MF estimation, i.e., the extended Gaussian image (EGI). By relaxing the original problem, we can compute the bounds in real-time, while preserving global optimality. Furthermore, we quantitatively and qualitatively demonstrate the performance of the proposed method for synthetic and real-world data. We also show the versatility of our approach through two applications: extension to multiple MF estimation and video stabilization.

关键词： Problem solving

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Correspondence search in the presence of specular highlights using specular-free two-band images

Correspondence search in the presence of specular highlights...

引用

7th Asian Conference on computer vision, ACCV 2006

作者： Yoon, Kuk-Jin Kweon, In-So Robotics and Computer Vision Lab. Dept. Electrical Engineering and Computer Science KAIST Korea Republic of

In this paper, we present a new method to deal with specular high-lights in correspondence search. The proposed method is essentially based on the specular-free two-band image that we introduce to deal with specular reflection. For given input images, specular-free two-band images are generated using simple pixel-wise computations in real-time. Specular-free two-band images are then used to compute per-pixel raw matching costs. By using the specular-free two-band images instead of input images, reliable raw matching costs that are independent of the specularities of image pixels are obtained. As a result, we can find correct correspondences even in the presence of specular highlights. Experimental results show that the proposed method successfully produces accurate disparity maps for stereo images with specular highlights. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Image analysis

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Stereo matching with the distinctive similarity measure

Stereo matching with the distinctive similarity measure

引用

11th IEEE International Conference on computer vision

作者： Yoon, Kuk-Jin Kweon, In So Perception Team INRIA Rhône-Alpes France Robotics and Computer Vision Lab. KAIST South Korea

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.

关键词： Stereo image processing

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Probabilistic matching of line segments for their homography

Probabilistic matching of line segments for their homography

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作者： Woo, Jihwan Kim, Taemin Kweon, In So Robotics and Computer Vision Lab. School of EECS KAIST Korea Republic of

ISBN: (纸本)9781424421756

Finding correspondences of two images taken from largely different camera configuration is a challenging problem because appearance information such as color, intensity and edge orientation histogram cannot be used. A probabilistic approach to match line segments in the images is proposed for calculating their homography. A membership matrix to represent contribution of every match to the homography is employed. A relaxed version of forward stepwise regression is derived and the test statistic is optimized. An alternating scheme for optimizing the membership and homography is provided. The simulation results on synthetic images validate the proposed method. © 2008 IEEE.

关键词： Statistical tests

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Fast correspondence-based system for 2-D shape classification

Fast correspondence-based system for 2-D shape classificatio...

引用

Proceedings of the International Conference on Imaging Science, Systems and Technology, CISST'03

作者： Super, Boaz J. Computer Vision and Robotics Lab. Computer Science Department University of Illinois at Chicago Chicago IL United States

In earlier work, we developed a fast method for 2-D shape retrieval based on point correspondences of silhouette contours. That method did not assume that the database shapes had class lab.ls. If class lab.l information is added, then the shape retrieval system can be used for 2-D shape classification. This paper explores this application, by extending our prior shape retrieval method to make use of class lab.ls, and then evaluating its classification accuracy on a large test database containing 70 object classes. The results show that the method is both highly accurate (96.5-99.6%) and fast (< 1 second).

关键词： Image analysis

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Analysis and query of person-vehicle interactions in homography domain

Analysis and query of person-vehicle interactions in homogra...

引用

4th ACM International Workshop on Video Surveillance and Sensor Networks, VSSN'06, co-located with the 2006 ACM International Multimedia Conference

作者： Park, Sangho Trivedi, Mohan M. Computer Vision and Robotics Research Lab. University of California San Diego CA United States

ISBN: (纸本)1595934960

This paper presents an efficient and robust paradigm for analysis and query of moving-object interactions in planar homography *** and vehicle activities/interactions are analyzed for situational awareness by using a multi-perspective *** homography constraints are exploited to extract view-invariant object features including footage area and velocity of objects on the ground plane. Spatio-temporal relationships between person-and vehicle-tracks are represented by a semantic event grammar. Semantic-level information of the situation is achieved with the anticipation of possible directions of near-future tracks using piecewise velocity history. An efficient query paradigm is proposed by histogram-based approximation of probability density functions of objects and by quad-tree indexing. Experimental data show promising *** framework can be applied to applications for enhanced situational awareness such as disaster prevention,human interactions in structured environments,and crowd movement analysis in wide-view areas. Copyright 2006 ACM.

关键词： Data reduction

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