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3D Vehicle Trajectory Reconstruction in Monocular Video Data Using Environment Structure Constraints [chapter]

Sebastian Bullinger, Christoph Bodensteiner, Michael Arens, Rainer Stiefelhagen
2018 Lecture Notes in Computer Science  
We present a framework to reconstruct three-dimensional vehicle trajectories using monocular video data.  ...  The video sequences show vehicles in urban areas and are rendered using the path-tracing render engine Cycles.  ...  Conclusions This paper presents a pipeline to reconstruct the three-dimensional trajectory of vehicles using monocular video data.  ... 
doi:10.1007/978-3-030-01249-6_3 fatcat:qpghvzkx25ee7mm6zoieznut5a

3D Trajectory Reconstruction of Dynamic Objects Using Planarity Constraints [article]

Sebastian Bullinger, Christoph Bodensteiner, Michael Arens, Rainer Stiefelhagen
2017 arXiv   pre-print
We present a method to reconstruct the three-dimensional trajectory of a moving instance of a known object category in monocular video data.  ...  The video sequences contain vehicles in urban areas and are rendered using the path-tracing render engine Cycles to achieve realistic results.  ...  Conclusions This paper presents a pipeline to reconstruct the threedimensional trajectory of moving objects using monocular video data.  ... 
arXiv:1711.06136v1 fatcat:fhldbk2jk5eu3gvqiuoqvhebx4

Stereo 3D Object Trajectory Reconstruction [article]

Sebastian Bullinger, Christoph Bodensteiner, Michael Arens, Rainer Stiefelhagen
2018 arXiv   pre-print
As opposed to monocular trajectory reconstruction approaches, our method shows no degenerated cases. We evaluate our approach using publicly available video data of vehicles in urban scenes.  ...  We present a method to reconstruct the three-dimensional trajectory of a moving instance of a known object category using stereo video data.  ...  [8] reconstruct vehicle shapes and trajectories in stereo video data using off-the-shelf ego-motion and stereo reconstruction algorithms.  ... 
arXiv:1808.09297v1 fatcat:t7yajb744nf23ig3bieipgwnr4

Constrained Bundle Adjustment for Structure From Motion Using Uncalibrated Multi-Camera Systems [article]

Debao Huang, Mostafa Elhashash, Rongjun Qin
2022 arXiv   pre-print
We performed our bundle adjustment using the proposed constraint and then produced 3D dense point clouds.  ...  Experiments were conducted using video frames of two collocated GoPro cameras mounted on a vehicle with no system calibration. These two cameras were placed capturing overlapping contents.  ...  ACKNOWLEDGEMENT This work was supported in part by the Office of Naval Research (Award No. N000141712928 and N000142012141).  ... 
arXiv:2204.04145v1 fatcat:feuhm7rnxvc5pcqtvskq4ura5e

Manual convoying of automated urban vehicles relying on monocular vision

P. Avanzini, B. Thuilot, P. Martinet
2012 2012 IEEE Intelligent Vehicles Symposium  
Vehicle localization relies solely on monocular vision: a 3D map of the environment is built beforehand from reference video sequences, and then used to derive vehicle absolute location from the current  ...  Next, the platoon reference trajectory is built as a B-Spline curve extended on-line via local optimization from the successive locations of the lead vehicle, and a global decentralized control strategy  ...  From the video sequence, a 3D reconstruction of the environment in the vicinity of the vehicle trajectory is then computed using a method relying on bundle adjustment, see [8] , and stored in an appropriate  ... 
doi:10.1109/ivs.2012.6232128 dblp:conf/ivs/AvanziniTM12 fatcat:a4bj7caqjnek7pf2i55eopapfq

CONSTRAINED BUNDLE ADJUSTMENT FOR STRUCTURE FROM MOTION USING UNCALIBRATED MULTI-CAMERA SYSTEMS

D. Huang, M. Elhashash, R. Qin
2022 ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
We performed our bundle adjustment using the proposed constraint and then produced 3D dense point clouds.  ...  Experiments were conducted using video frames of two collocated GoPro cameras mounted on a vehicle with no system calibration. These two cameras were placed capturing overlapping contents.  ...  ACKNOWLEDGEMENT This work was supported in part by the Office of Naval Research (Award No. N000141712928 and N000142012141).  ... 
doi:10.5194/isprs-annals-v-2-2022-17-2022 fatcat:zbskmr4sx5dd3nzjq4pxlewazq

High-resolution Ecosystem Mapping in Repetitive Environments Using Dual Camera SLAM [article]

Brian M. Hopkinson, Suchendra M. Bhandarkar
2022 arXiv   pre-print
Structure from Motion (SfM) techniques are being increasingly used to create 3D maps from images in many domains including environmental monitoring.  ...  Video frames acquired by the forward facing camera video are processed using a standard SLAM approach providing a trajectory of the imaging system through the environment which is then used to guide the  ...  ACKNOWLEDGEMENTS This work was supported by the US National Science Foundation (DBI 2016741). We thank the University of Georgia Marine Institute on Sapelo Island for facilitating field work.  ... 
arXiv:2201.03364v1 fatcat:jtcljvoqlbffhkvm65tydu7qsq

Real-time vehicle global localisation with a single camera in dense urban areas: Exploitation of coarse 3D city models

Pierre Lothe, Steve Bourgeois, Eric Royer, Michel Dhome, Sylvie Naudet-Collette
2010 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition  
Even with coarse 3D models, turnings give enough geometrical constraints to allow fitting the reconstructed 3D point cloud with the 3D model.  ...  Then, we propose to use the global information brought by 3D city models in order to correct the monocular SLAM error accumulation.  ...  Conclusion In this paper, we have proposed an efficient system to localise a vehicle in a dense urban area by using a single camera and a coarse 3D model of the environment.  ... 
doi:10.1109/cvpr.2010.5540127 dblp:conf/cvpr/LotheBRDN10 fatcat:cm74jezhgfacdpueobqqff32sy

An Overview of Perception and Decision-Making in Autonomous Systems in the Era of Learning [article]

Yang Tang, Chaoqiang Zhao, Jianrui Wang, Chongzhen Zhang, Qiyu Sun, Weixing Zheng, Wenli Du, Feng Qian, Juergen Kurths
2020 arXiv   pre-print
In this review, we focus on the applications of learning-based approaches in perception and decision-making in autonomous systems, which is different from previous reviews that discussed traditional methods  ...  learning-based monocular depth estimation, ego-motion prediction, image enhancement, object detection, semantic segmentation, and their combinations with traditional SLAM frameworks.  ...  using monocular videos.  ... 
arXiv:2001.02319v3 fatcat:z3zhp2cyonfqtlttl2y57572uy

Monocular visual odometry in urban environments using an omnidirectional camera

J.-P. Tardif, Y. Pavlidis, K. Daniilidis
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In particular, we do not perform any simultaneous iterative optimization of the camera positions and estimated 3D structure (local bundle adjustment).  ...  We present a system for Monocular Simultaneous Localization and Mapping (Mono-SLAM) relying solely on video input.  ...  OVERVIEW Monocular Visual SLAM in urban environments with a camera mounted on a vehicle is a particularly challenging task.  ... 
doi:10.1109/iros.2008.4651205 dblp:conf/iros/TardifPD08 fatcat:uuwaccnndbfwjoxydgptekpf5a

Outdoor autonomous navigation using monocular vision

E. Royer, J. Bom, M. Dhome, B. Thuilot, M. Lhuillier, F. Marmoiton
2005 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, a complete system for outdoor robot navigation is presented. It uses only monocular vision. The robot is first guided on a path by a human.  ...  During this learning step, the robot records a video sequence. From this sequence a three dimensional map of the trajectory and the environment is built.  ...  Additionally, the interest points are reconstructed in 3D.  ... 
doi:10.1109/iros.2005.1545495 dblp:conf/iros/RoyerBDTLM05 fatcat:edeefgtpobdj5l3wq6vimau2c4

Monocular Vision for Mobile Robot Localization and Autonomous Navigation

Eric Royer, Maxime Lhuillier, Michel Dhome, Jean-Marc Lavest
2007 International Journal of Computer Vision  
Then a structure from motion algorithm is used to build a 3D map from this learning sequence.  ...  Then a large part of the paper is dedicated to the experimental evaluation of the accuracy and robustness of our algorithms based on experimental data collected during two years in various environments  ...  We are grateful to Heudiasyc at Université de Technologie de Compiègne for providing some of the video sequences used in this paper.  ... 
doi:10.1007/s11263-006-0023-y fatcat:zg4ed5m7mbbxjo25bu3uza3z6y

Towards geographical referencing of monocular SLAM reconstruction using 3D city models: Application to real-time accurate vision-based localization

Pierre Lothe, Steve Bourgeois, Fabien Dekeyser, Eric Royer, Michel Dhome
2009 2009 IEEE Conference on Computer Vision and Pattern Recognition  
It is now possible to follow in real time the trajectory of a moving camera in an unknown environment.  ...  Our solution is based on a postprocessing algorithm that exploits additional geometric constraints, relative to the environment, to correct both the reconstructed geometry and the camera trajectory.  ...  To improve SLAM reconstructions, another approach could be to still use a low-cost video sensor but to introduce additional constraints. For example, Clemente et al.  ... 
doi:10.1109/cvpr.2009.5206662 dblp:conf/cvpr/LotheBDRD09 fatcat:pw4zw2khv5cixnwy4ujmttppvy

Towards geographical referencing of monocular SLAM reconstruction using 3D city models: Application to real-time accurate vision-based localization

P. Lothe, S. Bourgeois, F. Dekeyser, E. Royer, M. Dhome
2009 2009 IEEE Conference on Computer Vision and Pattern Recognition  
It is now possible to follow in real time the trajectory of a moving camera in an unknown environment.  ...  Our solution is based on a postprocessing algorithm that exploits additional geometric constraints, relative to the environment, to correct both the reconstructed geometry and the camera trajectory.  ...  To improve SLAM reconstructions, another approach could be to still use a low-cost video sensor but to introduce additional constraints. For example, Clemente et al.  ... 
doi:10.1109/cvprw.2009.5206662 fatcat:nyu5jr6uz5hibb2f6u57ghgsyy

Learning by Inertia: Self-supervised Monocular Visual Odometry for Road Vehicles [article]

Chengze Wang, Yuan Yuan, Qi Wang
2019 arXiv   pre-print
In this paper, we present iDVO (inertia-embedded deep visual odometry), a self-supervised learning based monocular visual odometry (VO) for road vehicles.  ...  With the observation that road vehicles tend to perform smooth dynamic characteristics in most of the time, we design the inertia loss function to describe the abnormal motion variation, which assists  ...  In order to comprehensively compare the reconstructed frame F t with the target frame F t , structured similarity (SSIM) loss L SSIM [17] and 3D point cloud alignment loss L 3D [18] are also introduced  ... 
arXiv:1905.01634v1 fatcat:oxda2nay7faaplpq2mev4yqjy4
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