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In this paper, we deal with the most challenging task of recovering the 3D human pose from just a single monocular image, that may be a synthetic image or a real internet image. The retrieval and reconstruction of the articulated 3D pose, both are prerequisites for the analysis of the people in images/videos. We address both tasks together and propose an efficient framework for search & retrieval...
Real-time processing of sensor data collected from moving vehicles is crucial to the development of active navigational systems. In this paper we develop a fast solution to the task of mosaic construction from aerial images, that allows the embedded generation of a faithful representation of the surveyed area. Most current solutions are off-line (i.e. all data is first collected and then processed...
This paper presents a new line based 6-DOF monocular algorithm that uses the iSAM2, a point-based Graph SLAM approach. We extend iSAM2 to minimize the reprojection error of the line features to solve the line-based SLAM problem. A specific line representation is exploited that combines the Plücker Coordinates and the Cayley representation. The Plücker Coordinates are used for the 3D line projection...
To improve the accuracy of camera calibration, a novel method is proposed based on the calibration principle of Zhang's calibration method. Firstly, improve the accuracy of pixel point to the subpixel. Then, the cameras of binocular visual measurement system are calibrated by Zhang's calibration method preliminarily. Finally, in consideration of the lens radial distortion, the parameters are optimized...
We propose a lightweight method for dense online monocular depth estimation capable of reconstructing 3D meshes on computationally constrained platforms. Our main contribution is to pose the reconstruction problem as a non-local variational optimization over a time-varying Delaunay graph of the scene geometry, which allows for an efficient, keyframeless approach to depth estimation. The graph can...
Hand-Eye Calibration (HEC) which is necessary in robotics is proposed to determine the relative transformations between the camera and the Inertial Measurement Unit (IMU) in this paper. We know HEC could be degenerated into the problem of solving an optimization issue for the homogeneous matrix composed of rotation and translation. After acquiring an initial estimation with Kronecker product and singular...
Transparency of optical see-through head-mounted displays (OST-HMDs) makes them suffer from background blending. Existing works have tackled this problem by color correction, but have not addressed how to estimate the background color accurately. In this paper, we apply colorimetric estimation to the subtraction compensation for background blending. Moreover, we propose an optimization framework that...
Exploiting camera sensors to conduct intruder detection has attracted a lot of research attention. Different from the traditional sensor with omni-directional sensing model, a camera sensor usually has a specified direction with a fixed sensing angle of sensing area. The sensing quality of coverage is critical to the application of coverage scheme. In this paper, we first investigate the complete...
Reflections can obstruct content during video capture and hence their removal is desirable. Current removal techniques are designed for still images, extracting only one reflection (foreground) and one background layer from the input. When extended to videos, unpleasant artifacts such as temporal flickering and incomplete separation are generated. We present a technique for video reflection removal...
Texture reconstruction is the last step of 3D reconstruction pipelines that makes 3D geometry models very impressive and beautiful. Once the 3D model is created through structure-from-motion, multi-view stereo and mesh reconstruction, real image based texture is mapped to the models. But it is not easy to generate high quality texture. There are many difficulties cause problems: the large number of...
Monocular ORB-SLAM has been proved to be one of the best open-source SLAM method. However, it is still unsatisfying especially in low illumination indoor environment, which is caused by scale recovery and wrong feature matching. In this paper, we proposed a vehicle model based monocular ORBSLAM method supplemented by April-Tag to improve the performance of original algorithm. This approach is practical...
Estimating the 6-DoF pose of a camera from a single image relative to a pre-computed 3D point-set is an important task for many computer vision applications. Perspective-n-Point (PnP) solvers are routinely used for camera pose estimation, provided that a good quality set of 2D-3D feature correspondences are known beforehand. However, finding optimal correspondences between 2D key-points and a 3D point-set...
The increasing scale of Structure-from-Motion is fundamentally limited by the conventional optimization framework for the all-in-one global bundle adjustment. In this paper, we propose a distributed approach to coping with this global bundle adjustment for very large scale Structurefrom-Motion computation. First, we derive the distributed formulation from the classical optimization algorithm ADMM,...
A fast method for mobile robot 3D SLAM (simultaneous localization and mapping) is presented to address the problem of 3D modeling in complex indoor environment. According to the camera calibration model and the image feature extraction and matching procedure, the association between two 3D point clouds can be established. On the basis of the RANSAC (random sample consensus) algorithm, the correspondence...
We address the problem of epipolar geometry using the motion of silhouettes. Such methods match epipolar lines or frontier points across views, which are then used as the set of putative correspondences. We introduce an approach that improves by two orders of magnitude the performance over state-of-the-art methods, by significantly reducing the number of outliers in the putative matching. We model...
To watch 360° videos on normal 2D displays, we need to project the selected part of the 360° image onto the 2D display plane. In this paper, we propose a fully-automated framework for generating content-aware 2D normal-view perspective videos from 360° videos. Especially, we focus on the projection step preserving important image contents and reducing image distortion. Basically, our projection method...
We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the active window, including the intrinsic/extrinsic camera parameters of all keyframes and the depth values of all selected pixels. In particular, we propose a novel...
We present an algorithm for aligning two colored point clouds. The key idea is to optimize a joint photometric and geometric objective that locks the alignment along both the normal direction and the tangent plane. We extend a photometric objective for aligning RGB-D images to point clouds, by locally parameterizing the point cloud with a virtual camera. Experiments demonstrate that our algorithm...
We present a robust algorithm for personalizing a spheremesh tracking model to a user from a collection of depth measurements. Our core contribution is to demonstrate how simple geometric reasoning can be exploited to build a shape-space, and how its performance is comparable to shape-spaces constructed from datasets of carefully calibrated models. We achieve this goal by first reparameterizing the...
In the article a new optimization approach for thermal processes modeling has been presented. In the designed method, the considered process is monitored by a measurement system with a thermal camera. Then, a spatio-temporal dynamics is discretized and transformed into a large-scale optimization problem with differential-algebraic constraints. To preserve the process dynamics in the assumed range,...
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