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检索条件"机构=Computer vision and Image processing lab"

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Extending the Measurement Error Model of a Direct Visual Odometry Algorithm to Improve its Accuracy for Planetary Rover Navigation

Extending the Measurement Error Model of a Direct Visual Odo...

引用

Applied Science and Advanced Technology (iCASAT), 2019 IEEE International Conference on

作者： Geovanni Martinez Image Processing and Computer Vision Research Laboratory (IPCV-LAB) Escuela de Ingeniería Eléctrica Universidad de Costa Rica San José Costa Rica

ISBN: (数字)9781728131108

ISBN: (纸本)9781728131115

In this paper, the accuracy of a direct monocular visual odometry algorithm is improved. The algorithm is able to determine the position and orientation of a robot directly from intensity differences measured at observation points between consecutive images, captured by a monocular camera, rigidly attached to one side of its structure, tilted downwards. The improvement was achieved by extending the stochastic model of the intensity-difference measurement error, from considering only the camera noise, to one that also considers the intensity-difference measurement error due to the 3D shape error between the assumed and the true planetary surface shape. The corresponding covariance matrix was incorporated into a Maximum Likelihood estimator. According to the experimental results on irregular surfaces, where the 3D shape error is usually large, the accuracy of the visual odometry algorithm improved by a factor of 2 but with the cost of increasing the processing time also by the same factor.

关键词： Three-dimensional displays Cameras Measurement errors Visual odometry Robot vision systems Shape

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RTM3D: Real-Time Monocular 3D Detection from Object Keypoints for Autonomous Driving 16th

RTM3D: Real-Time Monocular 3D Detection from Object Keypoin...

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16th European Conference on computer vision, ECCV 2020

作者： Li, Peixuan Zhao, Huaici Liu, Pengfei Cao, Feidao Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Sciences Shenyang China Key Lab of Image Understanding and Computer Vision ShenyangLiaoning China

ISBN: (纸本)9783030585792

In this work, we propose an efficient and accurate monocular 3D detection framework in single shot. Most successful 3D detectors take the projection constraint from the 3D bounding box to the 2D box as an important component. Four edges of a 2D box provide only four constraints and the performance deteriorates dramatically with the small error of the 2D detector. Different from these approaches, our method predicts the nine perspective keypoints of a 3D bounding box in image space, and then utilize the geometric relationship of 3D and 2D perspectives to recover the dimension, location, and orientation in 3D space. In this method, the properties of the object can be predicted stably even when the estimation of keypoints is very noisy, which enables us to obtain fast detection speed with a small architecture. Training our method only uses the 3D properties of the object without any extra annotations, category-specific 3D shape priors, or depth maps. Our method is the first real-time system (FPS > 24) for monocular image 3D detection while achieves state-of-the-art performance on the KITTI benchmark. © 2020, Springer Nature Switzerland AG.

关键词： Real time systems

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image Restoration for Terahertz image Based on Complex-Valued Deconvolution 8

Image Restoration for Terahertz Image Based on Complex-Value...

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8th Asia-Pacific Conference on Antennas and Propagation, APCAP 2019

作者： Ning, Wei Qi, Feng Wang, Jinkuan Northeastern University School of Computer Science and Engineering Shenyang110169 China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Sciences Shenyang110016 China Key Lab of Image Understanding and Computer Vision Liaoning Province Shenyang110016 China

ISBN: (纸本)9781665400541

According to the unique characteristics of terahertz (THz) waves, THz imaging has become a hot topic in widely application areas. However, the imaging resolution is constrained by its long wavelength. Generally, the deconvolution is always used to reconstruct the object function. In this paper, a method that combining the classic deconvolution algorithm with the complex-value data processing is investigated. It is posed that the proposed complex-number deconvolution achieves better performance compared to the real-valued deconvolution. © 2019 IEEE.

关键词： Deconvolution

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Stereo matching algorithm based on the combination of matching costs 7

Stereo matching algorithm based on the combination of matchi...

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7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017

作者： Ende, Wang Yalong, Zhu Liangyu, Peng Yijun, Li Tianyao, Wu Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Opto-Electronic Information Processing CAS Shenyang110016 China Key Lab of Image Understanding and Computer Vision Liaoning Province Shenyang110016 China College of Electrical Engineering Yanshan University Qinhuangdao066004 China School of Metallurgy Northeastern University Shenyang110819 China

ISBN: (纸本)9781538604892

Aiming at solving the problem of low accuracy of weak texture region and disparity discontinuous region and sensitivity to illumination caused by existing local stereo matching algorithm, a new stereo matching algorithm based on the combination of Sum of Absolute Difference algorithm and Absolute Difference of Gradient algorithm is presented here. Using the average of the pixels in the disparity range to apply adaptive weight to the SAD part. The new algorithm can adaptively adjust each part of the cost function in the proportion of the total cost function according to the different texture, illumination characteristics of image. Moreover, we use the semiglobal matching algorithm to calculate the cost of 8 directions, to carry out optimized processing on disparity image, finally a dense disparity map is obtained. The experimental results shows that the proposed method not only improve accuracy of stereo matching, but also has well results in weak texture region and disparity discontinuous region. © 2017 IEEE.

关键词： Textures

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image saliency detection method based on multi-feature maps fusion 4

Image saliency detection method based on multi-feature maps ...

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4th International Conference on computer Graphics, image, and Virtualization, ICCGIV 2024

作者： Li, Xiaoli Liu, Yunpeng Zhao, Huaici Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Key Laboratory of Opto-Electronic Information Processing Shenyang China The Key Lab of Image Understanding and Computer Vision Shenyang China Shenyang Jianzhu University Shenyang China

ISBN: (纸本)9781510683242

In this research, we introduce an innovative saliency detection algorithm, comprising three essential steps. Firstly, leveraging fully convolutional networks with aggregation interaction modules, we generate an initial saliency map. Secondly, we extract hand-craft and deep features to express the image, then use manifold ranking method to construct saliency maps. Ultimately, by integrating the outcomes from preceding stages, we generate the final saliency map. Experimental findings demonstrate that our method surpasses twelve cutting-edge saliency detection techniques in terms of precision, recall, F-measure, and MAE value metrics." © 2024 SPIE.

关键词： Feature extraction

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A Novel LOS Rate Estimation Method Based on images for Strap-down Inertial Guidance 3

A Novel LOS Rate Estimation Method Based on Images for Strap...

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2020 3rd International Conference on Advanced Algorithms and Control Engineering, ICAACE 2020

作者： Xu, Zheng Luo, Haibo Hui, Bin Chang, Zheng Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Science Shenyang110016 China Key Lab of Image Understanding and Computer Vision Shenyang110016 China

With the development of technology, precision guided weapon is becoming more and more important in modern war. In order to launch our recent guidance system on medium and small guided weapons, we propose a method to obtain the LOS rate by combining information from both camera and gyroscope. To be specific, we firstly calculate the body LOS angle through transforming the image pixel coordinate system into the image physical coordinate system according to camera internal parameters;then subtract the missile motion information contained in the measurement signal of the seeker and finally the LOS rate is deduced. Comparing with traditional gimballed seekers, our strap-down seekers with camera have significantly reduced costs and influences caused by external environments on platform. © Published under licence by IOP Publishing Ltd.

关键词： Cameras

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A directional-progressive search method for infrared small target detection 3

A directional-progressive search method for infrared small t...

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3rd Optoelectronics Global Conference, OGC 2018

作者： Zhang, Xiangyue Ding, Qinghai Luo, Haibo Hui, Bin Chang, Zheng Zhang, Junchao Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Opto-Electronic Information Processing CAS Shenyang110016 China Key Lab of Image Understanding and Computer Vision Liaoning Province Shenyang110016 China Space Star Technology Co. Ltd Beijing100086 China

ISBN: (纸本)9781538673973

Infrared small target detection plays a key role in infrared precision guidance and infrared early-warning system. It has been a difficult problem for researchers to study on how to detect targets accurately at a long distance as early as possible. Most of the existing algorithms can detect small targets in simple backgrounds, but they would fail on the detection when the background clutters are chaotic and the signal to clutter ratio (SCR) is low. Therefore, we propose a new infrared small target detection method which called a directional-progressive search (DPS) method. Our method derives from a fact that a small target is an isotropic Gaussian distribution at a long distance, while clutters show different characteristics in different directions. Based on this difference, we decompose the original image into first-order sub-images with different directions by using a first-order directional derivative (FODD) filter. Then zero-crossing points are detected in each direction step by step to distinguish small targets and background clutters. After screening progressively, the positions where existing zero-crossing points in every sub-image can be confirmed as targets. Experimental results show that our method acquires higher detection rates and lower false alarm rates compared with other methods. At the same time, our method can still keep better performance under various complex backgrounds. The robustness of our method is strong. © 2018 IEEE.

关键词： Clutter (information theory)

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Millimeter-wave radar image analysis for the traffic sensing 2

Millimeter-wave radar image analysis for the traffic sensing

引用

2nd Spring International Conference on Defence Technology, ICDT 2020

作者： Wu, H.M. Qi, F. Wang, J.K. Wang, Y. School of Communication Science and Engineering Northeastern University Liaoning Province Shenyang110819 China Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Sciences China Key Lab of Image Understanding and Computer Vision Liaoning Province Shenyang110016 China

Millimeter-wave(MMW) radar sensing is one of the most promising technologies to provide safe navigation for autonomous vehicles due to its expected high-resolution imaging capability However, driverless cars have higher request for different environment and light conditions. Therefore, millimetre-wave imaging is of paramount importance for complex load scenario. In this paper, we have built models of pavement pits and bulges and analysed their with differences ways of antennas. A comparison of the imaging performance of experimental systems operating at a MMW radar and a Lidar is presented with the analysis of features for initial image interpretation Experimental images of the complex road surface are made by a 94GHz frequency-modulated continuous-wave (FMCW) radar technique with 3mm wavelength. © Published under licence by IOP Publishing Ltd.

关键词： Optical radar

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Improved Kernel Correlation Filter Tracking with Gaussian scale space

Improved Kernel Correlation Filter Tracking with Gaussian sc...

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International Symposium on Optoelectronic Technology and Application 2016(OTA 2016)——Conf.12 Infrared Technology and Application

作者： Shukun Tan Yunpeng Liu Yicui Li Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Science The Key Lab of Image Understanding and Computer Vision

Visual tracking is one of the most challenging tasks in the field of computer vision and is related to a wide range of applications like surveillance and robotics. Tracking-by-detection methods are wi

ISBN: (纸本)9781510607729

关键词： visual tracking kernel correlation filter Gaussian scale space bilinear interpolation Mean Absolute Difference visual tracking bilinear interpolation images absolute difference imagery (Psychotherapy) Gauss Scale formation scale parameter Targets image Seeds jigs(templates) scales Scale

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Automated region growing for segmentation of brain lesion in diffusion-weighted MRI

Automated region growing for segmentation of brain lesion in...

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2012 International MultiConference of Engineers and computer Scientists, IMECS 2012

作者： Mohd Saad, N. Abu-Bakar, S.A.R. Muda, Sobri Mokji, M. Abdullah, A.R. Electronics and Computer Engineering Department Universiti Teknikal Malaysia Melaka 76100 Durian Tunggal Melaka Malaysia Computer Vision Video and Image Processing Research Lab. Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia Radiology Department Medical Faculty Universiti Kebangsaan Malaysia Jalan Yaacob Latif 56000 Cheras Kuala Lumpur Malaysia Electrical Engineering Department Universiti Teknikal Malaysia Melaka 76100 Durian Tunggal Melaka Malaysia

ISBN: (纸本)9789881925114

This paper presents an automatic segmentation of brain lesions from diffusion-weighted magnetic resonance imaging (DW-MRI or DWI) using region growing approach. The lesions are acute infarction, haemorrhage, tumour and abscess. Region splitting and merging is used to detect the lesion region. Then, histogram thresholding technique is applied to automate the seeds selection. The region is iteratively grown by comparing all unallocated neighbour pixels to the seeds. The difference between pixel's intensity value and the region's mean is used as the similarity measure. Evaluation is made for performance comparison between automatic and manual seeds selection. Overall, automated region growing algorithm provides comparable results with the semi-automatic segmentation.

关键词： Magnetic resonance imaging

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