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Locally Initiating Line-Based Object Association in Large Scale Multiple Cameras Environment

Shung Han Cho
2010 KSII Transactions on Internet and Information Systems  
In this paper, we introduce locally initiating line-based object association with the parallel projection camera model, which can be applicable to the situation without the common (ground) plane.  ...  Multiple object association is an important capability in visual surveillance system with multiple cameras.  ...  His research interests included Smart Convergence Service System and Device Design for "Life-care" and "public-safety" applications on Ubiquitous Computing Environment of Smart Space, and System Architecture  ... 
doi:10.3837/tiis.2010.06.010 fatcat:6othlrx4fvhibb35lqugjcaupm

Classifier and Feature Based Stereo for Mobile Robot Systems

C. H. Messom, A. L. Barczak
2008 2008 IEEE Instrumentation and Measurement Technology Conference  
Classifier based approaches to stereo vision reduce the ambiguity associated with low level texture and feature based image registration, however there are challenges associated with providing accurate  ...  The availability of good face detectors using this approach makes it suitable for biped and mobile robot systems that operate in environments that include people, however significant challenges exist for  ...  ACKNOWLEDGEMENTS The authors would like to acknowledge the use of Massey University's parallel computer the "Doublehelix" and "BeSTGRID" for the computational experiments that supported the results presented in  ... 
doi:10.1109/imtc.2008.4547182 fatcat:4t7qosgsbjegvodqc4ybuq26ly

Compact 3D Map-Based Monocular Localization Using Semantic Edge Alignment [article]

Kejie Qiu, Shenzhou Chen, Jiahui Zhang, Rui Huang, Le Cui, Siyu Zhu, Ping Tan
2021 arXiv   pre-print
In this paper, we propose a compact 3D map-based global localization system using a low-cost monocular camera and an IMU (Inertial Measurement Unit).  ...  To further improve the localization performance, the key semantic edge alignment is formulated as an optimization problem based on initial poses predicted by an independent VIO (Visual-Inertial Odometry  ...  compact map from other map formats and implement the localization system in other man-made environments.  ... 
arXiv:2103.14826v1 fatcat:r5yhywnpvvferllkogbbt2biaa

VM-tracking: Visual-motion sensing integration for real-time human tracking

Qiang Zhai, Sihao Ding, Xinfeng Li, Fan Yang, Jin Teng, Junda Zhu, Dong Xuan, Yuan F. Zheng, Wei Zhao
2015 2015 IEEE Conference on Computer Communications (INFOCOM)  
In such applications, it is necessary to accurately track multiple humans across multiple cameras, subject to real-time constraints.  ...  The system aggregates the information of motion (M) sensor on human, and integrates it with visual (V) data based on physical locations.  ...  Visual tracking of multiple human objects faces even greater challenges when we have multiple cameras for a large area, as required in our targeted application.  ... 
doi:10.1109/infocom.2015.7218440 dblp:conf/infocom/ZhaiDLYTZXZZ15 fatcat:okgdfts2ljciff5kfkykxlm55i

Feature-based visual simultaneous localization and mapping: a survey

Rana Azzam, Tarek Taha, Shoudong Huang, Yahya Zweiri
2020 SN Applied Sciences  
The reviewed approaches are classified based on the visual features observed in the environment.  ...  In this paper, a comprehensive survey of the state-of-the-art feature-based visual SLAM approaches is presented.  ...  In case multiple instances of the same object exist in the environment, Mahalanobi's distance is used to decide data association.  ... 
doi:10.1007/s42452-020-2001-3 fatcat:g7445is2cbdmdmllewkyp7giby

Accurate localization of moving objects in dynamic environment for small unmanned aerial vehicle platform using global averaging

Xiuchuan Xie, Tao Yang, Yanning Zhang, Bang Liang, Linfeng Liu
2021 IET Computer Vision  
In this article, a global averaging based localization method is proposed to locate moving objects for a small UAV platform.  ...  To perform these tasks better, it is necessary to improve the environmental perception ability of UAVs in a dynamic environment, including their static and dynamic perception ability.  ...  large-scale outdoor scenes.  ... 
doi:10.1049/cvi2.12053 fatcat:o6ufggf5z5gc7px6ugmwpk57xu

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

Brian M. Hopkinson, Suchendra M. Bhandarkar
2022 arXiv   pre-print
Fragmentary maps, initially produced from the documentation camera images via monocular SLAM, are subsequently scaled and aligned with the localization camera trajectory and finally subjected to a global  ...  An experimental comparison with several state-of-the-art SfM approaches shows the dual-camera SLAM approach to perform better in repetitive environmental systems based on select samples of ground control  ...  The objective (error) function incorporates costs assigned to all landmark to feature point associations and constraints on the keyframe poses based on the localization trajectory (Fig. 3 ).  ... 
arXiv:2201.03364v1 fatcat:jtcljvoqlbffhkvm65tydu7qsq

Biologically Motivated Novel Localization Paradigm by High-Level Multiple Object Recognition in Panoramic Images

Sungho Kim, Min-Sheob Shim
2015 The Scientific World Journal  
Multiple object recognition information from panoramic images is utilized in the localization part.  ...  The proposed localization paradigm consisted of three parts: panoramic image acquisition, multiple object recognition, and grid-based localization.  ...  A large field of view is required for object-based localization from a single image.  ... 
doi:10.1155/2015/465290 pmid:26457323 pmcid:PMC4589637 fatcat:uf6pcpzperaalavfhh2kjtzgse

Towards A Human Robot Interaction Framework with Marker-less Augmented Reality and Visual SLAM

Eranda Lakshantha, Simon Egerton
2014 Journal of Automation and Control Engineering  
Unlike marker-based AR, marker-less AR does not require the environment to be instrumented with special markers and so it works favorably for unknown/unprepared environments.  ...  Current state-of-the-art visual SLAM approaches like PTAMM (Parallel Tracking and Multiple Mapping) achieve this with constrained motion models within local co-ordinate systems.  ...  After the system initialization, the camera was moved towards the AR object. We kept on moving the camera in a straight line until it went pass the AR object.  ... 
doi:10.12720/joace.2.3.250-255 fatcat:j55pqoydfbe5vjdrb25yedovou

Mobile Robot Self-Localization Using Omnidirectional Vision with Feature Matching from Real and Virtual Spaces

Huei-Yung Lin, Chien-Hsing He
2021 Applied Sciences  
In our experiments, the effectiveness of the proposed self-localization technique was validated by the navigation of a mobile robot in a real world environment.  ...  In the virtual space, a number of vertical and horizontal lines are generated according to the structure of the environment.  ...  The line features in the structured environment are detected using structure-from-motion. There also exist various stereo vision-based approaches using multiple cameras [20] .  ... 
doi:10.3390/app11083360 fatcat:aezsfhzqnvgbroyuygtsuh5pda

Multiple-Object Tracking in Large-Scale Scene

Wenbo YUAN, Zhiqiang CAO, Min TAN, Hongkai CHEN
2016 IEICE transactions on information and systems  
Finally, continuous multiple-object tracking in large-scale scene is implemented. A database is established by collecting data through the visual sensor network.  ...  In this paper, a multiple-object tracking approach in largescale scene is proposed based on visual sensor network. Firstly, the object detection is carried out by extracting the HOG features.  ...  Acknowledgments This work is supported in part by the National Natu-  ... 
doi:10.1587/transinf.2015edp7481 fatcat:l4eewl365vbyhischnlx3vysr4

Eliminating Scale Drift in Monocular SLAM Using Depth From Defocus

Tomoyuki Shiozaki, Gamini Dissanayake
2018 IEEE Robotics and Automation Letters  
works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.  ...  Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective  ...  [16] proposed a filtering-based method to detect loops automatically to correct scale drift in large environments. Strasdat et al.  ... 
doi:10.1109/lra.2017.2772330 dblp:journals/ral/ShiozakiD18 fatcat:u32haqazjvdkljknzmwt5wy65m

EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association [article]

Yanmin Wu, Yunzhou Zhang, Delong Zhu, Yonghui Feng, Sonya Coleman, Dermot Kerr
2020 arXiv   pre-print
We then present an accurate object pose estimation framework, in which an outliers-robust centroid and scale estimation algorithm and an object pose initialization algorithm are developed to help improve  ...  Object-level data association and pose estimation play a fundamental role in semantic SLAM, which remain unsolved due to the lack of robust and accurate algorithms.  ...  It can be seen that EAO-SLAM can process multiple classes of objects with different scales and orientations in complex environments. Inevitably, there are some inaccurate estimations.  ... 
arXiv:2004.12730v2 fatcat:53w2m7kpcbe75bbqkbgkjizhry

EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association

Yanmin Wu, Yunzhou Zhang, Delong Zhu, Yonghui Feng, Sonya Coleman, Dermot Kerr
2020 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
We then present an accurate object pose estimation framework, in which an outliers-robust centroid and scale estimation algorithm and an object pose initialization algorithm are developed to help improve  ...  Object-level data association and pose estimation play a fundamental role in semantic SLAM, which remain unsolved due to the lack of robust and accurate algorithms.  ...  It can be seen that EAO-SLAM can process multiple classes of objects with different scales and orientations in complex environments. Inevitably, there are some inaccurate estimations.  ... 
doi:10.1109/iros45743.2020.9341757 fatcat:qweqrlo5wnh2zbgjbkhrvs5qma

Execution Behavior Modeling Methodology for Large Scale Surveillance System Design and Evaluation

Jung-Min Oh, Kyung Hoon Kim, Sangjin Hong, Nammee Moon
2014 Advances in Multimedia  
The environment model interprets the script and creates objects in a surveillance environment so that various situations can be evaluated.  ...  The application model allows building large scale collaborative operations. The system behavior is parameterized for simple representations.  ...  research was supported by the "Cross-Ministry Giga KOREA Project" of the Ministry of Science, ICT and Future Planning, Republic of Korea (GK14P0100, Development of Tele-Experience Service SW Platform Based  ... 
doi:10.1155/2014/962015 fatcat:fqaapnvqgvdv5kc47poekew7wi
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