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Efficient particle filtering using RANSAC with application to 3D face tracking

Le Lu, Xiangtian Dai, Gregory Hager
2006 Image and Vision Computing  
Both conditionally independent RANSAC sampling and boosting-like conditionally dependent RANSAC sampling are explored.  ...  Particle filtering is a very popular technique for sequential state estimation.  ...  In this paper, we use sequential sampling-importance-resampling (SIR) technique to regularize and smooth the object pose estimation from spatial RANSAC sampling.  ... 
doi:10.1016/j.imavis.2005.08.003 fatcat:kqwi2yvt6nf23oi6ppnxrgsvpq

Recognition of Activities of Daily Living for Smart Home Environments

Konstantinos Avgerinakis, Alexia Briassouli, Ioannis Kompatsiaris
2013 2013 9th International Conference on Intelligent Environments  
A statistical method for determining the temporal duration of extracted trajectories is also introduced, to streamline the recognition process and make it less ad-hoc.  ...  The recognition of Activities of Daily Living (ADL) from video can prove particularly useful in assisted living and smart home environments, as behavioral and lifestyle profiles can be constructed through  ...  Trajectories are temporally segmented in a near optimal manner by applying CUSUM to detect changes in velocity and thus separate the trajectories in a meaningful manner.  ... 
doi:10.1109/ie.2013.37 dblp:conf/intenv/AvgerinakisBK13 fatcat:oczn37mbprgjvluqi6fxy2bdkq

Fast Detection of Independent Motion in Crowds Guided by Supervised Learning

Yuan Li, Haizhou Ai
2007 2007 IEEE International Conference on Image Processing  
Different from appearance-based methods, clustering feature points only by their motion coherence is an emerging category of approach to detecting and tracking individuals among crowds.  ...  This paper reformalizes the problem and models a novel objective function for clustering with potential functions as in conditional random field approach.  ...  CONCLUSION AND FUTURE WORK This paper proposes a new objective function to guide the hierarchical clustering of motion-independent features into distinct objects.  ... 
doi:10.1109/icip.2007.4379316 dblp:conf/icip/LiA07 fatcat:a6f3yvuhxvgknoictmdj6ycx7e

Event-based Motion Segmentation by Cascaded Two-Level Multi-Model Fitting [article]

Xiuyuan Lu, Yi Zhou, Shaojie Shen
2021 arXiv   pre-print
Among prerequisites for a synthetic agent to interact with dynamic scenes, the ability to identify independently moving objects is specifically important.  ...  Experiments demonstrate the effectiveness and versatility of our method in real-world scenes with different motion patterns and an unknown number of independently moving objects.  ...  The results demonstrate that objects can be successfully separated from the background as long as they undergo motions independent of the camera's ego-motion.  ... 
arXiv:2111.03483v1 fatcat:lbajhavqrzgnrghjgizvx4z24a

Efficient Non-consecutive Feature Tracking for Structure-from-Motion [chapter]

Guofeng Zhang, Zilong Dong, Jiaya Jia, Tien-Tsin Wong, Hujun Bao
2010 Lecture Notes in Computer Science  
In image sequences, if disjointed tracks caused by objects moving in and out of the view, occasional occlusion, or image noise, are not handled well, the corresponding SfM could be significantly affected  ...  Structure-from-motion (SfM) is an important computer vision problem and largely relies on the quality of feature tracking.  ...  Different from the typical sequential matcher (e.g.  ... 
doi:10.1007/978-3-642-15555-0_31 fatcat:2ujdkkmjazhtpgsty6vcesuwl4

Track-Before-Detect Framework-Based Vehicle Monocular Vision Sensors

Hernan Gonzalez, Sergio Rodriguez, Abdelhafid Elouardi
2019 Sensors  
Results on challenging scenarios including the presence of multiple and simultaneous moving objects observed from a moving camera are reported and discussed.  ...  Our contribution relies on a tightly coupled tracking before detection strategy intended to reduce the complexity of existing Multibody Structure from Motion approaches.  ...  The scene is composed of three simultaneous independent motions: the dominant motion (static objects in red) and two moving objects (green and blue).  ... 
doi:10.3390/s19030560 fatcat:uarjv3zo6rhmbbmsnkthtunmju

A GENERIC PROBABILISTIC MODEL AND A HIERARCHICAL SOLUTION FOR SENSOR LOCALIZATION IN NOISY AND RESTRICTED CONDITIONS

S. Ji, X. Yuan
2016 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
And based on it, three relative independent solutions, bundle adjustment, Kalman filtering and particle filtering are deduced under different and additional restrictions.  ...  The other dataset is panoramic image series obtained from a ground MMS. The trajectory was selected in a complex street environment with moving vehicles, occlusions, and shadows.  ...  Any object that is high than the road surface would cause a rectification error. Second, shadows, moving cars, occlusions all contribute to unpredictable changes between MMS images and ortho-image.  ... 
doi:10.5194/isprs-archives-xli-b1-193-2016 fatcat:xmgvtamt2nhxvdxbatmmal7z7m

A GENERIC PROBABILISTIC MODEL AND A HIERARCHICAL SOLUTION FOR SENSOR LOCALIZATION IN NOISY AND RESTRICTED CONDITIONS

S. Ji, X. Yuan
2016 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
And based on it, three relative independent solutions, bundle adjustment, Kalman filtering and particle filtering are deduced under different and additional restrictions.  ...  The other dataset is panoramic image series obtained from a ground MMS. The trajectory was selected in a complex street environment with moving vehicles, occlusions, and shadows.  ...  Any object that is high than the road surface would cause a rectification error. Second, shadows, moving cars, occlusions all contribute to unpredictable changes between MMS images and ortho-image.  ... 
doi:10.5194/isprsarchives-xli-b1-193-2016 fatcat:yessvhmy7nf6ficqslk47gp6da

ENHANCEMENT STRATEGIES FOR FRAME-TO-FRAME UAS STEREO VISUAL ODOMETRY

J. Kersten, V. Rodehorst
2016 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
The experimental results demonstrate that our VO method is able to estimate quite accurate trajectories.  ...  Autonomous navigation of indoor unmanned aircraft systems (UAS) requires accurate pose estimations usually obtained from indirect measurements.  ...  Second, with a more uniform-like distribution features detected on moving objects have a better chance to be filtered out by RANSAC.  ... 
doi:10.5194/isprs-archives-xli-b3-511-2016 fatcat:opknrazxnjebtje5idofuadsve

ENHANCEMENT STRATEGIES FOR FRAME-TO-FRAME UAS STEREO VISUAL ODOMETRY

J. Kersten, V. Rodehorst
2016 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
The experimental results demonstrate that our VO method is able to estimate quite accurate trajectories.  ...  Autonomous navigation of indoor unmanned aircraft systems (UAS) requires accurate pose estimations usually obtained from indirect measurements.  ...  Second, with a more uniform-like distribution features detected on moving objects have a better chance to be filtered out by RANSAC.  ... 
doi:10.5194/isprsarchives-xli-b3-511-2016 fatcat:5j734p3ldraw3igcv5cky2ose4

TOWARDS STRUCTURELESS BUNDLE ADJUSTMENT WITH TWO- AND THREE-VIEW STRUCTURE APPROXIMATION

E. Rupnik, M. Pierrot Deseilligny
2020 ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
The global approaches solve SfM problems by independently inferring relative motions, followed be a sequential estimation of global rotations and translations.  ...  SIFT (Lowe, 2004) ), they inherently contain outliers, especially across ambiguous scenes with repetitive patterns, low texture, moving objects, etc.  ...  Sequential methods (Schonberger and Frahm, 2016, Snavely et al., 2006) generate one or multiple (e.g. hierarchical methods , Toldo et al., 2015 ) seed images and sequentially concatenate overlapping  ... 
doi:10.5194/isprs-annals-v-2-2020-71-2020 fatcat:54ksu346fjh5zkiske6pjwyiw4

Robust estimation of planar surfaces using spatio-temporal RANSAC for applications in autonomous vehicle navigation

Faisal Mufti, Robert Mahony, Jochen Heinzmann
2012 Robotics and Autonomous Systems  
Classical 3D spatial RANSAC is extended to 4D spatio-temporal RANSAC by developing spatio-temporal models of planar surfaces that incorporate a linear motion model as well as linear environment features  ...  A 4D-vector product is used for hypotheses generation from data that is randomly sampled across both spatial and temporal variations.  ...  In [60] , RANSAC plane fitting with Kalman filtering on sequentially obtained range data from LIDAR system is presented.  ... 
doi:10.1016/j.robot.2011.08.009 fatcat:xa3i6d4cu5b4dktd5jgxbjys5i

Personal driving diary: Automated recognition of driving events from first-person videos

M.S. Ryoo, Sunglok Choi, Ji Hoon Joung, Jae-Yeong Lee, Wonpil Yu
2013 Computer Vision and Image Understanding  
A decision tree based activity recognizer is designed, detecting driving events of vehicles and pedestrians from the first-person view videos by analyzing their trajectories and spatio-temporal relationships  ...  This paper presents an automated system that constructs such multimedia diary by analyzing videos obtained from a vehicle-mounted camera.  ...  Here, certain correspondences do not associated with camera motion because they are generated from moving objects or wrong feature matching.  ... 
doi:10.1016/j.cviu.2013.01.004 fatcat:qxc2wj66arhp7a4sqlq6qyrdbq

Efficient detection and tracking of moving objects in geo-coordinates

Yuping Lin, Qian Yu, Gérard Medioni
2010 Machine Vision and Applications  
We present a system to detect and track moving objects from an airborne platform.  ...  After motion segmentation and geo-registration, tracking is performed in a hierarchical manner: at the temporally local level, moving image blobs extracted by motion segmentation are associated into tracklets  ...  To track from a moving camera, we need to describe the motion of moving objects in common coordinates.  ... 
doi:10.1007/s00138-010-0264-1 fatcat:zzbj2gz45zbwbp6j4xsvbisbxm

Reconstruction from Uncalibrated Sequences with a Hierarchy of Trifocal Tensors [chapter]

David Nistér
2000 Lecture Notes in Computer Science  
This paper considers projective reconstruction with a hierarchical computational structure of trifocal tensors that integrates feature tracking and geometrical validation of the feature tracks.  ...  The algorithm was tested as part of this system on a number of sequences grabbed directly from a low-end video camera without editing.  ...  The best tentative solution from the RANSAC process is then optimised.  ... 
doi:10.1007/3-540-45054-8_42 fatcat:hple6coyyfh6nhhsthhfnxplum
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