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We propose an occlusion compensation method for optical see-through head-mounted displays (OST-HMDs) equipped with a singlelayer transmissive spatial light modulator (SLM), in particular, a liquid crystal display (LCD). Occlusion is an important depth cue for 3D perception, yet realizing it on OST-HMDs is particularly difficult due to the displays' semitransparent nature. A key component for the occlusion...
In recent time devices like Google Glass and Oculus Rift gained a lot of public attention. So the field of Virtual and Augmented Reality has become a more and more attractive field of study. Optical Stereo See-Through Head Worn Displays (OST-HWD or OST-HMD) can be used for Augmented Reality, but have to be calibrated. This means, that one has to find a configuration, that aligns the image shown on...
In this paper, the information acquisition problem of columnar moving obstacles is investigated for a quadrotor equipped with a stereo vision system flying in an indoor GPS-denied environment. A acquisition algorithm based on stereo vision is proposed to obtain the position and velocity direction. The spatial position relation between the quadrotor and the object detected is used to remove the interferences...
In this paper, we propose a novel computer vision technique to measure respiration rate by counting the periodic thoracoabdominal motion in real-time using an inexpensive consumer grade camera. We compute the component of optical flow parallel to the image gradient at each pixel, which is a computationally inexpensive operation. Then, we find a principal flow field by gathering information over many...
We present a new method to correct perspective and geometric distortions as well as to segment and refine page frames, presented in document images of paperback books. The proposed digitization process of paperback books is just like the process of scanning. Unlike traditional methods, our method is independent of document contents and does not need additional hardware or multiple images or luminance...
This paper presents the autonomous control of a fully customized quadrotor MAV in GPS-denied environments based on onboard visual odometry. To achieve the best integration and efficiency, key modules of the MAV hardware system have been investigated and optimized iteratively, inclusive of mechanical frame, propulsion system, flight controller and the visual sensor. An optical-flow module is developed...
We present a novel stereo vision algorithm that is capable of obstacle detection on a mobile ARM processor at 120 frames per second. Our system performs a subset of standard block-matching stereo processing, searching only for obstacles at a single depth. By using an onboard IMU and state-estimator, we can recover the position of obstacles at all other depths, building and updating a local depth-map...
Robotic vision has become an important field of research for micro aerial vehicles in the recent years. While many approaches for autonomous visual control of such vehicles rely on powerful ground stations, the increasing availability of small and light hardware allows for the design of more independent systems. In this context, we present a robust algorithm able to recover the UAV ego-motion using...
Video stabilization helps eliminate unwanted camera motion, yet it also introduces missing regions near the edge of the frame. We outline a new method for the completion of stabilized video using a block based approach. Building upon macroblock recovery techniques, candidate blocks are chosen using the nearby motion vectors of blocks at the edge of the original frame. Then, the candidate blocks with...
It is often necessary to stitch images together into a larger image; examples include generating a panoramic image, building an aerial terrain photo, and wide area surveillance. The latter is an example in which this stitching must happen in real time, i.e. less than one frame period. If further constraints are placed on the system such as operation in poor contrast conditions and multiple targets...
The computation of optical flow in video sequences is a challenging task in most camera based scene interpretation systems. In the past, most optical flow computation algorithms has been either implemented in software running on general purpose processors or designed as an application specific hardware. However, these implementations either cannot support real-time processing requirements or result...
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