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

作者： Erik Murphy-Chutorian Mohan M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego USA

We describe a new approach to vision-based 3D object tracking, using appearance-based particle filters to follow 3D model reconstructions. This method is targeted towards modern graphics processors, which are optimized for 3D reconstruction and are capable of highly parallel computation. We discuss an OpenGL implementation of this approach, which uses two rendering passes to update the particle filter weights. In the first pass, the system renders the previous object state estimates to an off-screen framebuffer. In the second pass, the system uses a programmable vertex shader to compute the mean normalized cross-correlation between each sample and the subsequent video frame. The particle filters are updated using the correlation scores and provide a full 3D track of the objects. We provide examples for tracking human heads in both single and multi-camera scenarios.

关键词： Filtering Particle tracking Rendering (computer graphics) Particle filters Target tracking Graphics Optimization methods Concurrent computing State estimation Humans

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Learning and Classification of Trajectories in Dynamic Scenes: A General Framework for Live Video Analysis

Learning and Classification of Trajectories in Dynamic Scene...

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

作者： Brendan T. Morris Mohan M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego CA USA

This paper presents a general framework for live video analysis. The activities of surveillance subjects are described using a spatio-temporal vocabulary learned from recurrent motion patterns. The repetitive nature of object trajectories is used to build a topographical scene description where nodes are points of interest (POT) and the edges correspond to activity paths (AP). The POI are learned through as a mixture of Gaussians and AP by clustering trajectories. The paths are probabilistically represented by hidden Markov models and adapt to temporal variations using online maximum likelihood regression (MLLR) and through a periodic batch update. Using the scene graph, new trajectories can be analyzed in online fashion to categorize past and present activity, predict future behavior, and detect abnormalities.

关键词： Layout Surveillance Video compression Videoconference Signal analysis computer vision Cameras Monitoring Robot vision systems Laboratories

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An adaptive scene description for activity analysis in surveillance video

An adaptive scene description for activity analysis in surve...

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International Conference on Pattern Recognition

作者： Brendan Morris Mohan Trivedi Computer Vision and Robotics Research Laboratory University of California La Jolla CA USA

ISBN: (纸本)9781424421749

This paper presents an adaptive framework for live video analysis. The activities of surveillance subjects are described using a spatio-temporal vocabulary learned from recurrent motion patterns. The repetitive nature of object trajectories are used to build a topographical map, where nodes are points of interest and the edges correspond to activities, to describe a scene. The graph is learned in an unsupervised manner but is flexible and able to adjust to changes in the environment or other scene variations.

关键词： Layout Surveillance Hidden Markov models Video compression Vocabulary Cameras computer vision Robot vision systems Laboratories Trajectory

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Hand modeling and tracking from voxel data: An integrated framework with automatic initialization

Hand modeling and tracking from voxel data: An integrated fr...

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International Conference on Pattern Recognition

作者： Cuong Tran Mohan M. Trivedi Computer Vision and Robotics Research Laboratory (CVRR) University of California San Diego CA USA

ISBN: (纸本)9781424421749

We propose an integrated framework for automated hand model initialization and tracking using voxel data. Starting with an initial specific hand pose, the Laplacian Eigenspace (LE) based segmentation method is applied to segment hand voxel into different parts. This segmentation result is then used to extend the kinematically constrained gaussian mixture model (KC-GMM) method for articulated body pose inference with an automated hand model initialization. Our experiment with both synthesized hand voxel and real hand voxel captured from multi-perspective thermal cameras show that by combining the two methods, we have a more powerful system than using each one solitarily.

关键词： Power system modeling Cameras Torso Human computer interaction Image reconstruction Kinematics computer vision Robot vision systems robotics and automation Laboratories

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No Robot Left Behind: Coordination to Overcome Local Minima in Swarm Navigation

No Robot Left Behind: Coordination to Overcome Local Minima ...

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2008 IEEE International Conference on robotics and Automation (ICRA 2008), vol.5

作者： Leandro Soriano Marcolino Luiz Chaimowicz Vision and Robotics Laboratory (VeRLab) Computer Science Department Federal University of Minas Gerais Brazil

In this paper, we address navigation and coordination methods that allow swarms of robots to converge and spread along complex 2D shapes in environments containing unknown obstacles. Shapes are modeled using implicit functions and a gradient descent approach is used for controlling the swarm. To overcome local minima, that may appear in these scenarios, we use a coordination mechanism that reallocates some robots as "rescuers" and sends them to help other robots that may be trapped. Simulations and real experiments demonstrate the feasibility of the proposed approach.

关键词： Robot kinematics Navigation Shape control robotics and automation Robot sensing systems Convergence Robot vision systems Motion planning Deformable models USA Councils

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3D tracking and dynamic analysis of human head movements and attentional targets

3D tracking and dynamic analysis of human head movements and...

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ACM/IEEE International Conference on Distributed Smart Cameras, ICDSC

作者： Erik Murphy-Chutorian Mohan M. Trivedi Systems for Human Interactivity Visualization and Analysis Computer Vision and Robotics Research Laboratory University of California San Diego USA

We present a new system-level framework for the automatic detection and tracking of multiple persons' heads in intelligent meeting rooms. We implement this approach with a distributed array of cameras that detect the meeting participants and continuously estimate their head orientation and head movements in 6 degrees-of-freedom with fine precision. The initial position of each person is obtained with a set of face detectors coupled with a new iterative approach to resolve the 3D ambiguities from overlapping epipolar lines. The head pose is obtained from a hybrid head pose estimation and tracking scheme that combines support vector regressors with a new multi-view 3D model-based tracking system. The purpose of this system is to facilitate the automatic semantic analysis of group meetings. As an example application, we evaluate the ability of the system to estimate the person that receives the most visual attention in the form of head direction.

关键词： Head Magnetic heads Cameras Three dimensional displays Face Estimation Visualization

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A Study of Car Park Control System Using Optical Character Recognition

A Study of Car Park Control System Using Optical Character R...

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International Conference on computer and Electrical Engineering, ICCEE

作者： Anton Satria Prabuwono Ariff Idris Computer Vision and Robotics (CoVisBot) Laboratory Faculty of Information and Communication Technology Technical University of Malaysia Malacca Malacca Malaysia

This paper presents a study and design of car park control system using optical character recognition (OCR) devices. The system uses client server environment. The administrator will monitor the system and the database from the server side. Furthermore the parking information will be displayed static based on the database shared by the server. Server application and database will be stored in the server. The result shows the system is capable to save log record that will ease tracking parking user, updating user and parking credit database as well as monitoring availability of parking spaces.

关键词： Optical control Control systems Optical character recognition software Character recognition computer vision Databases Optical computing Optical devices computerized monitoring Light emitting diodes

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Visual SLAM for 3D Large-Scale Seabed Acquisition Employing Underwater Vehicles

Visual SLAM for 3D Large-Scale Seabed Acquisition Employing ...

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 526-1042

作者： Joaquim Salvi Yvan Petillot Elisabet Batlle Computer Vision and Robotics Group University of Girona Girona Spain Ocean Systems Laboratory Heriot-Watt University Edinburgh UK

ISBN: (纸本)9781424420575

This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive 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. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed.

关键词： Three dimensional displays Vehicles Velocity measurement Trajectory Position measurement Covariance matrix Cameras

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The Design and Development of Automated Visual Inspection System for Press Part Sorting

The Design and Development of Automated Visual Inspection Sy...

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International Conference on computer Science and Information Technology (CSIT)

作者： Habibullah Akbar Anton Satria Prabuwono Computer Vision and Robotics (CoVisBot) Laboratory Faculty of Information & Communications Technology Technical University of Malaysia Melaka Ayer Keroh Malacca Japan

Quality of product is the most important aspect in manufacturing. The method for determine quality is divided into post-process inspection and real-time inspection. In this paper, we describe a scheme to apply computer vision for quality control application. The scheme is concerning to the development of automated visual inspection for press part sorting based on CMOS Web-camera in a production line simulation. The main objectives are to develop the intelligent inspection system and image processing algorithm to perform measurement of part parameter. In this research, we divide the system into hardware and software framework. The result shows that the dimensions of the part can be obtained by calculating the pixel value.

关键词： Inspection Software Presses Visualization Pixel Image processing Real time systems

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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