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A method that optimizes visual odometry, especially using visual odometry in the scene with absence of features is proposed in this paper. First, in order to estimate the pose of camera when the effect of using feature-based method is not good enough, direct method is implemented as the solution. Second, comparing with traditional visual odometry method, this method takes the environment restriction...
This paper presents an extension of block-based motion estimation for omnidirectional videos, based on a translational object motion model that accounts for the spherical geometry of the imaging system. We use this model to design a new algorithm to perform block matching in sequences of panoramic frames that are the result of the equirectangular projection. Experimental results demonstrate that significant...
To obtain depth information from a stereo camera setup, a common way is to conduct disparity estimation between the two views; the disparity map thus generated may then also be used to synthesize arbitrary intermediate views. A straightforward approach to disparity estimation is block matching, which performs well with perspective data. When dealing with non-perspective imagery such as obtained from...
First-person videos (FPVs) captured by wearable cameras have undesired shakiness because of fast changing views. When existing video stabilization techniques are applied, FPVs are transformed into cinematographic videos, losing the First-person motion information (FPMI) such as the recorder's interests and actions. We propose a system that can enhance viewability of FPVs by stabilizing them while...
The exponentially increasing use of moving platforms for video capture introduces the urgent need to develop the general background subtraction algorithms with the capability to deal with the moving background. In this paper, we propose a multilayer-based framework for online background subtraction for videos captured by moving cameras. Unlike the previous treatments of the problem, the proposed method...
With the rapid increasing of railway mileage, automatic railway intrusion detection by analyzing the video from train-mounted camera is becoming very meaningful. But there exits serious jitter in the video since the camera always vibrates with train when it is running, a video stabilization reprocessing procedure is the prerequisite before the intrusion detection analysis. To solve this question,...
Videos for outdoor scene often show unpleasant blur effects due to the large relative motion between the camera and the dynamic objects and large depth variations. Existing works typically focus monocular video deblurring. In this paper, we propose a novel approach to deblurring from stereo videos. In particular, we exploit the piece-wise planar assumption about the scene and leverage the scene flow...
In this work, we investigate the relation between the edge profiles present in a motion blurred image and the underlying camera motion responsible for causing the motion blur. While related works on camera motion estimation (CME) rely on the strong assumption of space-invariant blur, we handle the challenging case of general camera motion. We first show how edge profiles alone can be harnessed to...
An autonomous navigation scheme for unmanned aerial vehicles is presented based on visual and inertial measurement information fusion without the known ground cooperative target. The UAV relative translation and rotation motion parameters are estimated by inter-frame image feature detection and tracking. Then the relative motion parameters are considered to be the relative pose measurements of two...
This paper describes a new histogram based approach for classifying camera motions or characterizing video shots. The proposed method utilizes both magnitudes and orientations of motion vectors simultaneously, rather than using them separately as same as the existing methods. A 2D histogram, namely 2D array motion vector histogram, that carries both magnitudes and orientations of motion vectors detected...
Various modalities are used for the examination of the gastrointestinal (GI) tract. One such modality is Wireless Capsule Endoscopy (WCE), a non-invasive technique which consists of a swallowable color camera that enables the detection of GI pathology with only minimal patient discomfort. Currently, tracking of the capsule position is estimated in the 3D abdominal space, using radio-frequency (RF)...
In the paper, main stages of the visual odometry are considered in order to reveal factors influencing the quality if the motion estimation and establishing their importance degree. Main possibilities of the software simulator version developed of the visual odometry system are described. Results of experiments implemented on the simulator are presented, and certain inferences have been made.
In the paper, different variations of solving the problem of the visual odometry for a mobile robot with short-baseline stereo camera are investigated, and a conclusion on the suitability of the approaches considered is done.
High Efficient Video Coding (HEVC) improves coding efficiency but suffers from high computational complexity due to its quad-tree partitioning structure in motion estimation (ME). In recent development of 3D video technology, depth map from the 3D video provides an intimation of the objects' distance from the projected screen in a 3D scene, which inspires the authors to explore the adaptive search...
In this paper, we present an improved motion estimation method by adding extra information for binocular visual odometry (VO) which is especially suited for improving high-speed pose change estimation. The extra information is obtained by structured object detecting, taking lane line detection as an example. We can get an accurate position information by calculating the interval of each dotted lane...
As an important task of video enhancement, a lot of video stabilization methods have been proposed. However in many real-world applications, especially the systems with human-computer interactions, existing methods only remove camera motion in stabilized frames, the remaining object motion will also lead to deviations in manual inputs. In this paper, we collect practical hand drawn bounding boxes...
We present a data processing pipeline to online estimate ego-motion and build a map of the traversed environment, leveraging data from a 3D laser, a camera, and an IMU. Different from traditional methods that use a Kalman filter or factor-graph optimization, the proposed method employs a sequential, multi-layer processing pipeline, solving for motion from coarse to fine. The resulting system enables...
Capturing or acquiring video data from advanced gadgets, like cell phone cameras, smart phones, camcorders, etc., is very recent and up growing trend. With the advancement of the video camera as the integrated part of these multimedia devices generates necessity for video stabilization. Digital video stabilization or video frame alignment techniques are used to improve quality of input video by removing...
How to implement an effective factorization for nonrigid structure from motion(NRSFM) has attracted much attention in recent years. Addressing this problem, we propose a novel sequential factorization method without extra priors other than the basis low-rank prior, consisting of a motion estimation module and a 3D shape recovery module. In the motion estimation module, for improving the estimation...
This paper presents a new technique for semi-automatic 2D to 3D stereo video conversion. Our algorithm escapes the scope of traditional depth propagation paradigm based on motion estimation and compensation. First of all, we treat the foreground and background depths separately and then combine them to form a final depth map for each video frame. For the foreground parts, they are first segmented...
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