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DEPTH FROM ACCIDENTAL MOTION USING GEOMETRY PRIOR

DEPTH FROM ACCIDENTAL MOTION USING GEOMETRY PRIOR

引用

IEEE International Conference on Image Processing

作者： Sung-Hoon Im Gyeongmin Choe Hae-Gon Jeon In So Kweon Robotics and Computer Vision Lab KAIST

ISBN: (纸本)9781479983407

We present a method to reconstruct dense 3D points from small camera motion. We begin with estimating sparse 3D points and camera poses by Structure from Motion (SfM) method with homography decomposition. Although the estimated points are optimized via bundle adjustment and gives reliable accuracy, the reconstructed points are sparse because it heavily depends on the extracted features of a scene. To handle this, we propose a depth propagation method using both a color prior from the images and a geometry prior from the initial points. The major benefit of our method is that we can easily handle the regions with similar colors but different depths by using the surface normal estimated from the initial points. We design our depth propagation framework into the cost minimization process. The cost function is linearly designed, which makes our optimization tractable. We demonstrate the effectiveness of our approach by comparing with a conventional method using various real-world examples.

关键词： Structure from motion Small baseline Depth propagation geometry Bundle adjustment surface normal Cost functions minimization process Handles Color

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Robust computer vision Techniques for High-Quality 3D Modeling

Robust Computer Vision Techniques for High-Quality 3D Modeli...

引用

Asian Conference on Pattern Recognition (ACPR)

作者： Joon-Young Lee Jiyoung Jung Yunsu Bok Jaesik Park Dong-Geol Choi Yudeog Han In So Kweon Robotics and Computer Vision Lab KAIST

In this paper, we present our recent sensor fusion approaches to obtain high-quality 3D information. We first discuss two fusion methods that combine geometric and photometric information. The first method, multiview photometric stereo, reconstructs the full 3D shape of a target object. The geometric and photometric information is efficiently fused by using a planar mesh representation. The second method performing shape-from shading with a Kinect sensor estimates the shape of an object under uncalibrated natural illumination. Since the method uses a single RGB-D input, it is capable of capturing the high quality shape details of a dynamic object under varying illumination. Subsequently, we summarize a calibration algorithm of a time of-flight (ToF) sensor and a camera fusion system with a 2.5D pattern. Lastly, we present a camera-laser sensor fusion system for the large-scale 3D reconstruction.

关键词： Three-dimensional displays Lighting Cameras Calibration Geometry Estimation Shape

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A Real Time and Robust Facial Expression Recognition and Imitation approach for Affective Human-Robot Interaction Using Gabor filtering

A Real Time and Robust Facial Expression Recognition and Imi...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Cid, Felipe Prado, Jose Augusto Bustos, Pablo Nunez, Pedro Robotics and Artificial Vision Lab. Robolab Group University of Extremadura Spain Institute of Systems and Robotics Dept. Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781467363587

Facial expressions are a rich source of communicative information about human behavior and emotion. This paper presents a real-time system for recognition and imitation of facial expressions in the context of affective Human Robot Interaction. The proposed method achieves a fast and robust facial feature extraction based on consecutively applying filters to the gradient image. An efficient Gabor filter is used, along with a set of morphological and convolutional filters to reduce the noise and the light dependence of the image acquired by the robot. Then, a set of invariant edge-based features are extracted and used as input to a Dynamic Bayesian Network classifier in order to estimate a human emotion. The output of this classifier updates a geometric robotic head model, which is used as a bridge between the human expressiveness and the robotic head. Experimental results demonstrate the accuracy and robustness of the proposed approach compared to similar systems.

关键词： Gabor filters belief networks edge detection emotion recognition face recognition feature extraction human-robot interaction image classification

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Fluttering Pattern Generation Using Modified Legendre Sequence for Coded Exposure Imaging

Fluttering Pattern Generation Using Modified Legendre Sequen...

引用

International Conference on computer vision (ICCV)

作者： Hae-Gon Jeon Joon-Young Lee Yudeog Han Seon Joo Kim In So Kweon Robotics and Computer Vision Lab. KAIST Department of Computer Science Yonsei Univerisity

ISBN: (纸本)9781479928415

Finding a good binary sequence is critical in determining the performance of the coded exposure imaging, but previous methods mostly rely on a random search for finding the binary codes, which could easily fail to find good long sequences due to the exponentially growing search space. In this paper, we present a new computationally efficient algorithm for generating the binary sequence, which is especially well suited for longer sequences. We show that the concept of the low autocorrelation binary sequence that has been well exploited in the information theory community can be applied for generating the fluttering patterns of the shutter, propose a new measure of a good binary sequence, and present a new algorithm by modifying the Legendre sequence for the coded exposure imaging. Experiments using both synthetic and real data show that our new algorithm consistently generates better binary sequences for the coded exposure problem, yielding better deblurring and resolution enhancement results compared to the previous methods for generating the binary codes.

关键词： Correlation Cameras Binary codes Noise computer vision Deconvolution

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Robot homing based on corner tracking in a sequence of panoramic images

Robot homing based on corner tracking in a sequence of panor...

引用

2001 IEEE computer Society Conference on computer vision and Pattern Recognition

作者： Argyros, Antonis A. Bekris, Kostas E. Orphanoudakis, Stelios C. Computer Vision and Robotics Lab. Institute of Computer Science Found. for Res./Technology - Hellas Heraklion Crete Greece

In robotics, homing can be defined as that behavior which enables a robot to return to its initial (home) position, after traveling a certain distance along an arbitrary path. Odometry has traditionally been used for the implementation of such a behavior, but it has been shown to be an unreliable source of information. In this work, a novel method for visual homing is proposed, based on a panoramic camera. As the robot departs from its initial position, it tracks characteristic features of the environment (corners). As soon as homing is activated, the robot selects intermediate target positions on the original path. These intermediate positions (IPs) are then visited sequentially, until the home position is reached. For the robot to move between two consecutive IPs, it is only required to establish correspondence among at least three corners. This correspondence is obtained through a feature tracking mechanism. The proposed homing scheme is based on the extraction of very low-level sensory information, namely the bearing angles of corners, and has been implemented on a robotic platform. Experimental results show that the proposed scheme achieves homing with a remarkable accuracy, which is not affected by the distance travelled by the robot.

关键词： robotics

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HIGH DYNAMIC RANGE IMAGING BY A RANK-1 CONSTRAINT

HIGH DYNAMIC RANGE IMAGING BY A RANK-1 CONSTRAINT

引用

IEEE International Conference on Image Processing

作者： Tae-Hyun Oh Joon-Young Lee In So Kweon Robotics and Computer Vision Lab KAIST Korea

ISBN: (纸本)9781479923427

We present a high dynamic range (HDR) imaging algorithm that utilizes a modern rank minimization framework. Linear dependency exists among low dynamic range (LDR) images. However, global or local misalignment by camera motion and moving objects breaks down the low-rank structure of LDR images. The proposed algorithm simultaneously estimates global geometric transforms to align LDR images and detects moving objects and under-/over-exposed regions using a rank minimization approach. In the HDR composition step, structural consistency weighting is proposed to generate an artifact-free HDR image from an user-selected reference image. We demonstrate the robustness and effectiveness of the proposed method with real datasets.

关键词： HDR Rank Minimization Alignment GATA3 gene hot dry rocks Alignment HIGH DYNAMIC RANGE LAND DISPOSAL RESTRICTIONS Imaging images

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Complementary Sets of Shutter Sequences for Motion Deblurring

Complementary Sets of Shutter Sequences for Motion Deblurrin...

引用

International Conference on computer vision (ICCV)

作者： Hae-Gon Jeon Joon-Young Lee Yudeog Han Seon Joo Kim In So Kweon Robotics and Computer Vision Lab. KAIST Agency for Defense Development Yonsei Univerisity

ISBN: (纸本)9781467383929

In this paper, we present a novel multi-image motion deblurring method utilizing the coded exposure technique. The key idea of our work is to capture video frames with a set of complementary fluttering patterns to preserve spatial frequency details. We introduce an algorithm for generating a complementary set of binary sequences based on the modern communication theory and implement the coded exposure video system with an off-the-shelf machine vision camera. The effectiveness of our method is demonstrated on various challenging examples with quantitative and qualitative comparisons to other computational image capturing methods used for image deblurring.

关键词： Upper bound Image restoration Correlation Cameras Deconvolution Radar imaging

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Probabilistic matching of line segments for their homography

Probabilistic matching of line segments for their homography

引用

International Conference on Pattern Recognition

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

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.

关键词： Image segmentation computer vision Robot vision systems Cameras Histograms Testing Statistical analysis Graph theory Bayesian methods Iterative algorithms

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A new camera calibration method for robotic applications

A new camera calibration method for robotic applications

引用

2001 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Kim, Jun-Sik Kweon, In-So Robotics and Comp. Vision Lab. Dept. of Elec. Eng. and Comp. Sci. KAIST Taejon 305-701 Korea Republic of

In this paper, we present a camera calibration method using two views of three pairs of concentric circles with known sizes. A new invariant property for circle is introduced to determine the position of the center of the projected circle. Given two image ellipses and their corresponding centers, a cross-ratio based method estimates the center of projected circles using the new invariant property. The accurate center of projected concentric circles provides correct correspondences between ellipses in the image plane and circles in 3-D plane. We also demonstrate that two views of three pairs of coplanar concentric circles are enough to determine the intrinsic camera parameters, such as the focal length, the aspect ratio, and the principal point. We validate the performance of the method using both synthetic and real images. Our method shows a comparable performance with respect to similar calibration methods using planes. The use of concentric circles, however, provides correct correspondences between 3-D target points and their image points, and greatly simplifies the calibration problem.

关键词： robotics

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Fast Separation of Reflection Components using a Specularity-Invariant Image Representation

Fast Separation of Reflection Components using a Specularity...

引用

IEEE International Conference on Image Processing

作者： Kuk-jin Yoon Yoojin Choi In So Kweon Department Electrical Engineering and Computer Science KAIST Robotics and Computer Vision Laboratory South Korea Dept. Electrical Engineering and Computer Science Robotics and Computer Vision Lab. Korea

In this paper, we propose a fast method for separating reflection components using a single color image. We first propose a specular-free two-band image that is a specularity-invariant color image representation. Reflection components separation is achieved by comparing local ratios at each pixel and making those ratios equal in an iterative framework. The proposed method is very fast and shows reasonable results for textured indoor/outdoor images.

关键词： Reflection Image representation Layout Color Polarization computer vision Image segmentation Filters Lighting Argon

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