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Underwater imaging has become a staple tool used by scientists exploring the deep ocean. Advanced camera systems are able to combine quantitative measurements from in-situ sensors with qualitative imaging to provide high fidelity multi-dimensional datasets which can be used to support a wide range of science questions. This includes benthic characterization and mapping, identification of biota and...
An emerging environmental issue for the world's oceans is the accumulation of plastic debris on or near the ocean surface. A novel collaboration between The Ocean Cleanup foundation and Teledyne Optech — an aerial survey with the Optech CZMIL system, data processing and analysis — is expected to provide initial volume estimates for future debris collection by The Ocean Cleanup.
This paper proposes and implements a convolutional neural network (CNN) that maps images from a camera to an error signal to guide and control an autonomous underwater vehicle into the entrance of a docking station. The paper proposes to use an external positioning system synchronized with the vehicle to obtain a dataset of images matched with the position and orientation of the vehicle. By using...
A real sea survey result of sea floor at Middle Okinawa Trough by a hovering type AUV (Autonomous Underwater Vehicle) HOBALIN is reported. The depth of the survey target area is almost the intended limit of the AUV and it was the first time for the AUV to dive down to that depth since the AUV dived first time into the real sea almost one year ago. The operation of the survey with the AUV was done...
With an increase in the population of older adults, the number of cases with dementia also increases. People living with dementia (PLwD) exhibit various behavioral and psychological experiences; agitation and aggression being the most common. Aggressive patients with dementia can harm themselves, other patients and the staff. In the past, researchers have used actigraphy to detect incidences of agitation...
Obstacle detection and tracking is a fundamental task for several Advanced Driver Assistance Systems (ADAS) and self-driving cars. Several approaches have been presented in the literature in the last years and many of them are based on visual sensors. In this paper we propose an approach that uses only stereo cameras to detect and track obstacles and compute visual odometry to get the vehicle's ego-velocity...
The core feature of any intelligent transportation system (ITS) is the vehicle measurement technique incorporated to measure road traffic volumes. Sensors or detectors placed along roads are used to acquire traffic flow data for further processing either manually or through fully automated intelligent systems. Although several different technologies exist, no single vehicle count method is absolutely...
In order to understand the underwater environment, it is essential to use sensing methodologies able to perceive the three dimensional (3D) information of the explored site. Sonar sensors are commonly employed in underwater exploration. This paper presents a novel methodology able to retrieve 3D information of underwater objects. The proposed solution employs an acoustic camera, which represents the...
In monocular vision systems, lack of knowledge about metric distances caused by the inherent scale ambiguity can be a strong limitation for some applications. We offer a method for fusing inertial measurements with monocular odometry or tracking to estimate metric distances in inertial-monocular systems and to increase the rate of pose estimates. As we performed the fusion in a loosely-coupled manner,...
Vision is a potent source of information, not just for humans, but for robots as well. Processing visual information is a computationally expensive task, one that is often difficult to accomplish in real-time on embedded hardware. In the broad field of visual research exists egomotion estimation, the process of determining self-motion from optical flow. Here we show a technological adaptation and...
To assist the social interaction of deaf and hearing impaired people, efficient interactive communication tools is expected. With the growing research interest in action and gesture recognition in the last years, many successful applications for sign language recognition comprise new types of sensors including low-cost depth camera and advanced machine learning technologies. In this paper, we present...
Depth sensors open up possibilities of dealing with the human action recognition problem by providing 3D human skeleton data and depth images of the scene. Analysis of human actions based on 3D skeleton data has become popular recently, due to its robustness and view-invariant representation. However, the skeleton alone is insufficient to distinguish actions which involve human-object interactions...
Diminished reality (DR) is a technique to remove undesirable objects from a video stream in real time. DR methods calculate a user's camera pose using vision- or sensor-based approaches to recover and overlay a background image to the camera view. Relying on 6DoF camera registration methods, DR results are often ruined due to misregistration. To solve this problem, we propose a registration framework...
In the context of pedestrian navigation, urban environment constitutes a challenging area for both localization and Augmented Reality (AR). In order to display 3D Geographic Information System (GIS) content in AR and to qualify them, we propose to fuse the pose estimated using vision thanks to a precisely known 3D urban furniture model with rotation estimated from inertial and magnetic measurements...
Cameras and other sensors are increasingly deployed for private space monitoring applications such as home monitoring, assisted/enhanced living and child monitoring. Since these cameras capture highly sensitive information and transfer it over public communication infrastructures, security and privacy is a major concern. This work presents a secure camera device along with a secure data delivery and...
A method is proposed for estimation of occluded space and generation of auxiliary points for 3D position estimation of strongly occluded objects. First, occlusion space detection calculates 3D keypoints at the rear side of a target object, thus obtaining a silhouette around the object on the near side, as found from a camera image by an object detector. The method calculates the space containing the...
Intelligent automobiles and advanced driver assistance systems (ADAS) are some of the major technological developments that affect human daily life. Today, many studies are being generated to develop state of the art transportation systems. The general objective in these studies is to cope with negative effects of traffic. In this work, our aim is to contribute to the development of ADAS by determining...
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...
A vast majority of consumer cameras operate the rolling shutter mechanism, which often produces distorted images due to inter-row delay while capturing an image. Recent methods for monocular rolling shutter compensation utilize blur kernel, straightness of line segments, as well as angle and length preservation. However, they do not incorporate scene geometry explicitly for rolling shutter correction,...
Camera-enabled sensors deployed for visual monitoring will cover a region of the target field, providing information for many innovative applications based on wireless sensing. Actually, some areas of the monitored field may have more relevance than others, according to the characteristics of the applications, which may indicate that such areas need better coverage to avoid blind spots and achieve...
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