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Acquisition of 3D structure of selectable quality from image streams

Acquisition of 3D structure of selectable quality from image...

引用

IEEE Workshop on Applications of computer vision (WACV)

作者： A.K. Dalmia M. Trivedi Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

In this paper we present a computational approach for extracting three-dimensional structure of controllable resolution, depth of field, and accuracy, all made available at real-time speeds. This approach utilizes the spatial and the temporal gradients of the streams of images acquired using an actively controlled camera. Depending on the requirements of a particular task, appropriate parameters such as disparity value sought, the inter-frame camera displacement, and number of frames in a stream, are chosen to control the resolution, depth of field, and accuracy. The acquisition and processing of the image stream are done in real-time on a pipeline architecture based processor. Extensive experiments are presented to demonstrate the accuracy, controllability of depth of field and resolution, and ability to perform successfully in a variety of scenes. The system operated with no latency between the image acquisition and processing. The total acquisition and processing time in these experiments is in the range of 0.27 to 1.56 sec. The depth results have an accuracy of 85% to 92%.< >

关键词： Streaming media computer vision Machine vision Cameras Pipelines Spatial resolution Layout Delay Performance analysis Robot vision systems

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Multi-primitive hierarchical (MPH) stereo system

Multi-primitive hierarchical (MPH) stereo system

引用

Conference on computer vision and Pattern Recognition (CVPR)

作者： S.B. Marapane M.M. Trivedi Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

A computational framework for an accurate, robust, and efficient stereo approach is developed. Most of the deficiencies prevailing in current computational models of stereo can be attributed to their use of a single, typically edge-element-based, primitive for stereo analysis and to their use of a single-level control strategy. The multi-primitive hierarchical (MPH) framework for stereo analysis presented is directed toward overcoming these deficiencies. In the MPH model, stereo analysis is performed in multiple stages, incorporating multiple primitives and utilizing a hierarchical control strategy. The higher levels of the hierarchical system are based on primitives containing more semantic information, and the results of stereo analysis at higher levels are used for guidance at the lower levels. It is shown that such a stereo system is superior to a single-level, single-primitive system.< >

关键词： Stereo vision computer vision Laboratories Robustness Computational modeling Performance analysis Layout Contracts Algorithm design and analysis Robot vision systems

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Localized Radon transform-based detection of linear features in noisy images

Localized Radon transform-based detection of linear features...

引用

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

作者： Copeland Ravichandran Trivedi Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

This paper presents a Radon transform-based approach to the detection of linear features in images characterized by high noise levels. This approach is based on the localized Radon transform where the intensity integration is performed over short line segments rather than across the entire image. The algorithm, referred to as the feature space line detector (FSLD) algorithm, is tested on synthetic images of linear features with very high noise levels. The results of this testing demonstrate the algorithm's robustness in the presence of noise, as well as its ability to detect and localize linear features that are significantly shorter than the image dimensions or that display some curvature.< >

关键词： Feature extraction

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A vision-based haptic exploration

A vision-based haptic exploration

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： H.T. Tanaka K. Kushihama N. Ueda S. Hirai Computer Vision Laboratory Computer Science Department Ritsumeikan University Japan Robotics Department Ritsumeikan University Japan

Real-world objects exhibit rich physical interaction behaviours on contact. Such behaviours depend on how heavy and hard it is when held, how its surface feels when touched, how it deforms on contact, etc. Recently, there are thus growing needs for haptic exploration to estimate and extract such physical object properties as mass, friction, elasticity, relational constraints etc.. In this paper, we propose a novel paradigm, we call haptic vision,which is a vision-based haptic exploration approach toward an automatic construction of reality-based virtual space simulator, by augmenting active vision with active touch. We apply this technique to mass, relational constraints estimation and elasticity, and use these results to construct virtual object manipulation simulator. Experimental results show that feasibility and validity of the proposed approach.

关键词： Haptic interfaces Robot vision systems Robot sensing systems Solid modeling Elasticity Friction Shape control robotics and automation Humans Machine vision

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Real-time visual tracking using correlation techniques

Real-time visual tracking using correlation techniques

引用

IEEE Workshop on Applications of computer vision (WACV)

作者： M.W. Eklund G. Ravichandran M.M. Trivedi S.B. Marapane Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

A real-time correspondence based tracking algorithm is detailed. The system uses a pipeline processor, a general purpose processor, a camera and a display. The Minimum Noise and Correlation Energy (MINACE) filter is used in the tracking algorithm as it provides a good combination of speed, accuracy and flexibility for the targeted hardware system. The system designed is fast and tracking is accomplished at a rate of 15 hz. The system is adaptive and does not rely on a previous model of the object; the training image for filter synthesis is acquired from previous image frames and the filter is synthesized online to accommodate 3-D variations of the target being tracked. The system tracks an object consistently as is demonstrated by the low deviation of the results in the evaluation. The correlation filter-based tracking algorithm has proved to be useful in our research in cooperative mobile robots. A visual servoing system has been implemented using this tracking algorithm for convoying of multiple mobile robots.< >

关键词： Target tracking Cameras Robot vision systems Visual servoing computer vision Adaptive filters Mobile robots Laboratories Power engineering and energy Pipelines

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On the generation of feasible paths for aerial robots in environments with obstacles

On the generation of feasible paths for aerial robots in env...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Douglas G. Macharet Armando A. Neto Mario F. M. Campos Computer Vision and Robotics Laboratory (Ver lab) Computer Science Department Federal University of Minas Gerais Brazil

This paper presents a methodology based on a variation of the Rapidly-exploring Random Trees (RRTs) that generates feasible trajectories for autonomous aerial vehicles with holonomic constraints in environments with obstacles. Our approach uses Pythagorean Hodograph (PH) curves to connect vertices of the tree, which makes it possible to generate paths for which the main kinematic constraints of the vehicle are not violated. The smoothness of the acceleration profile of the vehicle is indirectly guaranteed between two vertices of the RRT tree. The proposed algorithm provides fast convergence to the final trajectory. We still utilize the properties of the RRT to avoid collisions with static obstacles of a environment. We show results for a small unmanned aerial vehicles in environments with different configurations.

关键词： Unmanned aerial vehicles Remotely operated vehicles Space vehicles Aircraft Mobile robots Path planning Intelligent robots Trajectory USA Councils Kinematics

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Reactive locomotion control of articulated-tracked mobile robots for obstacle negotiation

Reactive locomotion control of articulated-tracked mobile ro...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： C.X. Chen M.M. Trivedi Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN USA

This paper describes a reactive obstacle negotiating algorithm for articulated-tracked robots and demonstrates a working system by presenting the simulation, animation, and control methodologies for an articulated-tracked mobile robot with a manipulator and sensory modules. Developing the motion planning strategies for robots with articulated-tracked locomotin is much different from path planning techniques developed for wheeled robots traveling on a planar surface, as the problems are not limited to solving the obstacle avoidance only, but involve finding the obstacle negotiating strategy as well. The authors have been developing tracked mobile-manipulator systems for applications in hazardous environments. A simulation, animation, visualization and interactive control (SAVIC) environment has been developed for the design and operation of a integrated robotic manipulator system.

关键词： Mobile robots Robot sensing systems Computational modeling Robot vision systems Motion control Animation Manipulators Visualization computer vision Tracking

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Using intrinsic images for shadow handling

Using intrinsic images for shadow handling

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International Conference on Intelligent Transportation

作者： R.F.K. Martin O. Masoud N. Papanikolopoulos Artificial Intelligence Vision and Robotics Laboratory Department of Computer Science and Engineering University of Minnesota USA

The ability to detect shadows is a critical feature of any intelligent transportation system (ITS). The improper handling of shadows can be the cause of erroneous conclusions in traffic analysis. As vision-based ITS applications are becoming more popular, it is important to minimize the effects of shadows. Here, we present a novel method for shadow handling in a sequence of images. Following recent work motivated by studies of the statistics of natural images, we show that this new method is a reliable detector of shadows and can be easily implemented in real-time.

关键词： Intelligent transportation systems Vehicle detection Artificial intelligence Intelligent robots Vehicles Layout Magnetic analysis computerized monitoring computer vision Image edge detection

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HairDiffusion: Vivid Multi-Colored Hair Editing via Latent Diffusion 38

HairDiffusion: Vivid Multi-Colored Hair Editing via Latent D...

引用

38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Zeng, Yu Zhang, Yang Liu, Jiachen Shen, Linlin Deng, Kaijun He, Weizhao Wang, Jinbao Computer Vision Institute School of Computer Science & Software Engineering Shenzhen University China Shenzhen Institute of Artificial Intelligence and Robotics for Society China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Guangdong Provincial Key Laboratory of Intelligent Information Processing China

Hair editing is a critical image synthesis task that aims to edit hair color and hairstyle using text descriptions or reference images, while preserving irrelevant attributes (e.g., identity, background, cloth). Many existing methods are based on StyleGAN to address this task. However, due to the limited spatial distribution of StyleGAN, it struggles with multiple hair color editing and facial preservation. Considering the advancements in diffusion models, we utilize Latent Diffusion Models (LDMs) for hairstyle editing. Our approach introduces Multi-stage Hairstyle Blend (MHB), effectively separating control of hair color and hairstyle in diffusion latent space. Additionally, we train a warping module to align the hair color with the target region. To further enhance multi-color hairstyle editing, we fine-tuned a CLIP model using a multi-color hairstyle dataset. Our method not only tackles the complexity of multi-color hairstyles but also addresses the challenge of preserving original colors during diffusion editing. Extensive experiments showcase the superiority of our method in editing multi-color hairstyles while preserving facial attributes given textual descriptions and reference images. © 2024 Neural information processing systems foundation. All rights reserved.

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Evaluation of Registration Methods on Two-Dimensional Forward-Looking Sonar Imagery

Evaluation of Registration Methods on Two-Dimensional Forwar...

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Oceans 2013 - Norway

作者： Natalia Hurtos Sharad Nagappa Xavier Cufi Yvan Petillot Joaquim Salvi Computer Vision and Robotics Group University of Girona Ocean Systems Laboratory Heriot-Watt University

ISBN: (纸本)9781479900022

Two-dimensional forward-looking sonars such as Blueview or DIDSON are becoming a standard sensor in both remotely-operated and autonomous underwater vehicles. Registration of imagery obtained from this sensors is of great interest since it constitutes a key step in several applications like the generation of acoustic mosaics or the extraction of vehicle motion estimates from sonar imagery, specially on poor visibility conditions. However, the characteristics of these sonar images, such as low signal-to-noise ratio, low resolution and intensity alterations due to viewpoint changes pose a challenge to the traditional registration techniques applied on optical images. In this paper, the performance of popular registration methods commonly used in photomosaicing are evaluated on real sonar data, including feature-based methods and an area-based approach. Experiments are carried out on different environments, from man-made structured scenarios to more natural and featureless areas, and under challenging conditions such as viewpoint changes and the presence of different sonar-specific artifacts. After assessing the impact of all these factors on the different registration techniques, we show that Fourier-based registration method stands as the more robust option to register acoustic imagery.

关键词： Sonar imagery Registration Acoustic imagery sonar Restricted visibility Optical Imaging images Sensors Imagery (Psychotherapy)

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