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Multi-camera 3D scene reconstruction from vanishing points

Multi-camera 3D scene reconstruction from vanishing points

引用

IEEE International Conference on Imaging Systems and Techniques

作者： Chrysostomou, Dimitrios Kyriakoulis, Nikolaos Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece

ISBN: (纸本)9781424464944

In this paper we present a multi-camera system, which serves as the primary vision apparatus for a ceiling based swinging service robotic platform. To facilitate a smooth and unimpeded movement of the swinging platform the knowledge of the working environment is essential. To this end we examine the 3D scene reconstruction by concurrent multiple views from the distinct cameras located at the upper corners of a room for volume calculation of objects in everyday indoor environments. The 3D scene reconstruction is used to determine the working volume where the swinging robot will be able to operate. At first, we detect lines across the views using the hough transformation while the computation of multiple vanishing points serves as the platform to distinguish regions across the multi camera system. We thereafter obtain correspondences across the multiple views of the test room and finally we determine the 3D volumes of objects across the scene. The preliminary experimental results show that the volume computation is very accurate and reasonably time consuming. © 2010 IEEE.

关键词： Image reconstruction

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Light-invariant 3D object's pose estimation using color distance transform

Light-invariant 3D object's pose estimation using color dist...

引用

IEEE International Conference on Imaging Systems and Techniques

作者： Kyriakoulis, Nikolaos Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece

ISBN: (纸本)9781424464944

This paper presents a novel pose estimation method based on color distance transform. Although the distance transform has already been used for object detection, pose estimation and active contouring we use it in a completely novel way to isolate the colors from which the pose is estimated. Standard matching and pose estimation techniques usually rely on the available texture and feature points. However, they are bound to fail in low texture or extreme noise presence conditions. The edge-based approaches can overcome such failures but they are generally too slow for real-time performance. Moreover the image luminance affects these techniques as the edges are not visible and in many cases the foreground and the background are merged. On the other hand, we obtain robustness against extreme lighting conditions by using the HSV-HSL color spaces. We isolate the colors operating only on the chromaticity plane where luminosity (L) and value (V) have no actual effect. Depending on the vectors' norms in the RGB cube we obtain the chroma which is subtracted from the HSV-HSL color disk leaving only the colors with high intensities. The distance transform is then applied on the remaining colors in order to find their 'sources'. The pixels which have the same color but are far from the source are excluded, since they are considered noisy. The proposed method maintains its accuracy and precision against different lighting conditions without increasing the processing time or the computational resources. © 2010 IEEE.

关键词： Color

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Light-invariant 3D object's pose estimation using color distance transform

Light-invariant 3D object's pose estimation using color dist...

引用

IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Nikolaos Kyriakoulis Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper presents a novel pose estimation method based on color distance transform. Although the distance transform has already been used for object detection, pose estimation and active contouring we use it in a completely novel way to isolate the colors from which the pose is estimated. Standard matching and pose estimation techniques usually rely on the available texture and feature points. However, they are bound to fail in low texture or extreme noise presence conditions. The edge-based approaches can overcome such failures but they are generally too slow for real-time performance. Moreover the image luminance affects these techniques as the edges are not visible and in many cases the foreground and the background are merged. On the other hand, we obtain robustness against extreme lighting conditions by using the HSV-HSL color spaces. We isolate the colors operating only on the chromaticity plane where luminosity (L) and value (V) have no actual effect. Depending on the vectors' norms in the RGB cube we obtain the chroma which is subtracted from the HSV-HSL color disk leaving only the colors with high intensities. The distance transform is then applied on the remaining colors in order to find their `sources'. The pixels which have the same color but are far from the source are excluded, since they are considered noisy. The proposed method maintains its accuracy and precision against different lighting conditions without increasing the processing time or the computational resources.

关键词： IEEE members Object detection Colored noise Laboratories robotics and automation production engineering management Noise robustness Image segmentation Grid computing

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Multi-camera 3D scene reconstruction from vanishing points

Multi-camera 3D scene reconstruction from vanishing points

引用

IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Dimitrios Chrysostomou Nikolaos Kyriakoulis Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

关键词： Layout Cameras Machine vision Robot vision systems Image reconstruction IEEE members Computer vision robotics and automation Indoor environments Service robots

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

引用

IEEE International Conference on Imaging Systems and Techniques

作者： Nalpantidis, Lazaros Sirakoulis, Georgios Ch. Carbone, Andrea Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Autoagent Laboratory for Cognitive Robotics Department of Computer and Systems Science University of Rome La Sapienza Via Ariosto 25 00185 Rome Italy

ISBN: (纸本)9781424464944

In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed. © 2010 IEEE.

关键词： Stereo vision

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

引用

IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Lazaros Nalpantidis Georgios Ch. Sirakoulis Andrea Carbone Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Autoagent Laboratory of Cognitive Robotics Department of Computer and Systems Science University of Roma La Sapienza Rome Italy

关键词： Simultaneous localization and mapping Area measurement Robustness Computer vision Robot vision systems Cameras Robot sensing systems robotics and automation Image analysis Algorithm design and analysis

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Path planning for cooperating unmanned vehicles over 3-d terrain

Path planning for cooperating unmanned vehicles over 3-d ter...

引用

International Conference on Informatics in Control automation and robotics, ICINCO 2007

作者： Nikolos, Ioannis K. Tsourveloudis, Nikos C. Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete 73100 Chania Greece

ISBN: (纸本)9783540856399

In this paper we suggest an off-line/on-line path planner for cooperating unmanned vehicles that takes into account the mission objectives and constraints through an optimization procedure. The cooperating vehicles can be either Unmanned Aerial Vehicles (UAVs) or Autonomous Underwater Vehicles (AUVs);these two categories of vehicles share common features as far as path planning is concerned and these features are used in this work for the development of a unified approach to the path planning problem over 3-D terrains. A number of unmanned vehicles of the same category are launched from the same or different known initial locations. The main issue is to produce 3-D trajectories (represented by 3-D B-Spline curves) that ensure a collision free path, respect the mission objectives and constraints, and guide the vehicles to a common final destination. The off-line planner is designed for known environments. The on-line one generates paths in unknown static environments, by exchanging acquired information from the cooperating vehicles' on-board sensors. For each vehicle a near optimum path is generated that guides it safely to an intermediate position within the already scanned area. The process is repeated for each vehicle until the final destination is reached by one or more members of the team. Then, each one of the remaining vehicles can either turn into the off-line mode to reach the target, moving through the already scanned area, or continue with the on-line mode. Both off-line and on-line path planning problems are formulated as optimization problems, and a Differential Evolution algorithm is used as the optimizer.

关键词： Autonomous underwater vehicles

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Safe test flights for small rotorcrafts

Safe test flights for small rotorcrafts

引用

5th International Conference on Informatics in Control automation and robotics, ICINCO 2008

作者： Vitzilaios, Nikos Tsourveloudis, Nikos Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete Chania 73300 Greece

ISBN: (纸本)9783642002700

In this paper we present an experimental test bed for the development and evaluation of unmanned helicopters control. Main component of the suggested test bed is a flying stand which permits all possible movements but, also, prevents helicopters' damage because of crashing. A variety of sensors mounted on the stand, monitor and feedback rotorcraft's attitude and operational states. Based on the sensory information, a fuzzy logic controller has been developed and tested on a real rotorcraft, using the developed test bed. This controller proved able to perform hovering and altitude control. Experimental results are presented for various test cases. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Fuzzy control

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Dense disparity estimation using a hierarchical matching technique from uncalibrated stereo vision

Dense disparity estimation using a hierarchical matching tec...

引用

IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： L. Nalpantidis A. Amanatiadis G. Sirakoulis N. Kyriakoulis A. Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece

In motion estimation, the sub-pixel matching technique involves the search of sub-sample positions as well as integer-sample positions between the image pairs, choosing the one that gives the best match. Based on this idea, the proposed disparity estimation algorithm performs a 2-D correspondence search using a hierarchical search pattern. The disparity value is then defined using the distance of the matching position. Therefore, the proposed algorithm can process non-rectified stereo image pairs, maintaining the computational load within reasonable levels.

关键词： Stereo vision Motion estimation Cameras Robot vision systems Laboratories Pixel Layout Machine vision robotics and automation production systems

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Pose estimation of a volant platform with a monocular visuo-inertial system

Pose estimation of a volant platform with a monocular visuo-...

引用

IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Nikolaos Kyriakoulis Evangelos Karakasis Antonios Gasteratos Angelos Amanatiadis Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece

One of the serious problems in robotics applications is the estimation of the robot's pose. A lot of research effort has been put on finding the pose via inertial and proximity sensors. However, the last decades many systems adopt vision to estimate the pose, by using homographies and projection geometry. In this paper the pose estimation is achieved by the identification of a geometrically known platform from one camera and from the measurements of an inertial unit. The extended Kalman filter (EKF) is used for data fusion and error compensation. The novelty of this system is that the visual sensor and the inertial unit are mounted on different mobile systems. The proposed pose estimation system exhibits high accuracy in real-time.

关键词： Cameras Frequency estimation Robot vision systems Robot sensing systems Biosensors Laboratories Computer vision Real time systems Image sensors Machine vision

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