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Real-time Localization in Outdoor Environments using Stereo Vision and Inexpensive GPS

M. Agrawal, K. Konolige
2006 18th International Conference on Pattern Recognition (ICPR'06)  
The motion estimation problem is formulated efficiently in the disparity space and results in accurate and robust estimates of the motion even for a small-baseline configuration.  ...  Our system relies on stereo vision to robustly estimate frame-to-frame motion in real time (also known as visual odometry).  ...  Our goal for this project was to develop an inexpensive localization system using stereo vision and complement it with a low-cost GPS sensor and a suite of inexpensive inertial navigation sensors.  ... 
doi:10.1109/icpr.2006.962 dblp:conf/icpr/AgrawalK06 fatcat:7ripybzck5eozekfzoijcwu2qq

Experimental Comparison of Visual-Aided Odometry Methods for Rail Vehicles

Florian Tschopp, Thomas Schneider, Andrew William Palmer, Navid Nourani-Vatani, Cesar Cadena Lerma, Roland Siegwart, Juan Nieto
2019 IEEE Robotics and Automation Letters  
Our results show that stereo visual-inertial odometry has a great potential to provide a precise motion estimation because of its complementing sensor modalities and shows superior performance in challenging  ...  In this work, we investigate the applicability, challenges and limitations of current visual and visual-inertial motion estimation frameworks for rail applications.  ...  Using the IMU as a complementing sensor modality, as in OKVIS, seems to be beneficial in this case. Stereo-SWE still has troubles with feature tracking as in scenario A.  ... 
doi:10.1109/lra.2019.2897169 fatcat:kllh3ibmm5frlotviu6ceevbki

Page 527 of SMPTE Motion Imaging Journal Vol. 77, Issue 5 [page]

1968 SMPTE Motion Imaging Journal  
The motion-picture equipment is equipped with a high-quality audio complement, ‘‘Sound 6-50.”  ...  A new general-purpose motion-picture theater, the October, was opened in Moscow in 1967.  ... 

A factorization method in stereo motion for non-rigid objects

Yu Huang, Jilin Tu, Thomas S. Huang
2008 Proceedings of the IEEE International Conference on Acoustics, Speech and Signal Processing  
In this paper we propose a framework of factorization-based non-rigid shape modeling and tracking in stereo-motion.  ...  We construct a measurement matrix with the stereo-motion data captured from a stereo-rig.  ...  The notable problem is how to fully utilize the redundant information in the stereo-motion analysis, but practically the more important issue would be how to make the two basic cues complement with each  ... 
doi:10.1109/icassp.2008.4517797 dblp:conf/icassp/HuangTH08 fatcat:x75cq4jijbcyxf6oqtaf5qs2de

Temporal upsampling of performance geometry using photometric alignment

Cyrus A. Wilson, Abhijeet Ghosh, Pieter Peers, Jen-Yuan Chiang, Jay Busch, Paul Debevec
2010 ACM Transactions on Graphics  
In the first step, we coalesce information from the gradient illumination frames to the full-on tracking frame, and form a temporally aligned photometric normal map, which is subsequently combined with  ...  Key to our method is a new algorithm for jointly aligning two photographs, under a gradient illumination condition and its complement, to a full-on tracking frame, providing dense temporal correspondences  ...  Yu, and K. West. We thank G. Stratou, A. Jones, and C. Milk for assistance with the capture process. We would also like to thank S. Mordijck, M. Nichelson, B. Swartout, R. Hill, and R.  ... 
doi:10.1145/1731047.1731055 fatcat:xo2p7rihbvh3ra3vfq5x7lgjqm

Reconstructing Street-Scenes in Real-Time from a Driving Car

Vladyslav Usenko, Jakob Engel, Jorg Stuckler, Daniel Cremers
2015 2015 International Conference on 3D Vision  
In this paper, we compare a real-time capable 3D reconstruction method using a stereo extension of large-scale direct SLAM (LSD-SLAM) with laser-based maps and traditional stereo reconstructions based  ...  In our reconstructions, small-baseline comparison over several subsequent frames are fused with fixed-baseline disparity from the stereo camera setup.  ...  Acknowledgements This work has been partially supported by grant CR 250/9-2 (Mapping on Demand) of German Research Foundation (DFG) and grant 16SV6394 (AuRoRoll) of BMBF.  ... 
doi:10.1109/3dv.2015.75 dblp:conf/3dim/UsenkoESC15 fatcat:nk3ohindfvdifl7i6mmxncdjre

Unified Stereo-Based 3D Head Tracking Using Online Illumination Modeling

Kwang Ho An, Myung Jin Chung
2009 Procedings of the British Machine Vision Conference 2009  
Through the use of the extra information obtained from stereo images, coping with large out-of-plane rotations and translation in depth is now tractable (or at least easier than with a single camera).  ...  Generally, 3D head tracking with a single camera is not robust to fast and large outof-plane rotations and translation in depth.  ...  Because we assumed Eq. (1) in the beginning, and because Eqs. (6) and (7) are linear with respect to motion parameters α α α and illumination coefficient vectors β β β l and β β β r respectively, we can  ... 
doi:10.5244/c.23.8 dblp:conf/bmvc/AnC09 fatcat:4twfgp53zndb3pn34zzo36psr4

Stereo DSO: Large-Scale Direct Sparse Visual Odometry with Stereo Cameras [article]

Rui Wang, Martin Schwörer, Daniel Cremers
2017 arXiv   pre-print
Quantitative evaluation demonstrates that the proposed Stereo DSO outperforms existing state-of-the-art visual odometry methods both in terms of tracking accuracy and robustness.  ...  In particular, we propose a novel approach to integrate constraints from static stereo into the bundle adjustment pipeline of temporal multi-view stereo.  ...  We would like to thank Jakob Engel and Vladyslav Usenko for their supports and fruitful discussions.  ... 
arXiv:1708.07878v1 fatcat:fcjxgo57v5g4nb6nfgg7vzdtaq

Real-time 2D to 3D video conversion

Ianir Ideses, Leonid P. Yaroslavsky, Barak Fishbain
2007 Journal of Real-Time Image Processing  
In our method, compressed 2D video is analyzed by extracting motion vectors.  ...  Using the motion vector maps, depth maps are built for each frame and the frames are segmented to provide object-wise depth ordering.  ...  This happens when the motion is either too rapid in terms of camera rotation or in the case of camera zoom. Such cases can be detected by analysis of the motion vector maps and dealt with.  ... 
doi:10.1007/s11554-007-0038-9 fatcat:5koesxyw3zbsnijdcwnvbgsk6a

CUBESAT ONBOARD ALGORITHM FOR SPACE DEBRIS MOTION DETERMINATION BY PROCESSING STEREO IMAGES

S. P. Simakov, I. V. Belokonov
2021 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
The study addresses the problem of space debris motion determination using a nanosatellite with video equipment that allows making stereo images.  ...  The algorithm is based on a pair of simultaneous stereo images and uses random samples of triangulated points to match the sequentially conducted stereo images.  ...  ACKNOWLEDGEMENTS The research was supported by the 0777-2020-0018 project of the Ministry of Science and Higher Education of the Russian Federation  ... 
doi:10.5194/isprs-archives-xliii-b1-2021-229-2021 fatcat:7ag2hqltivg2nks2aupauisvny

Stereo and motion cues effect on depth perception of volumetric data

Isaac Cho, Zachary Wartell, Wenwen Dou, Xiaoyu Wang, William Ribarsky, Andrew J. Woods, Nicolas S. Holliman, Gregg E. Favalora
2014 Stereoscopic Displays and Applications XXV  
In addition, we compare our result to previous works on 3D networks and discuss possible reasons for and implications of the different results.  ...  Displays supporting stereoscopic and head-coupled motion parallax can enhance human perception of containing 3D surfaces and 3D networks but less for so volumetric data.  ...  The conditions are: non-stereo without no motion (NS-NM), stereo with nomotion (S-NM), non-stereo with head-tracking (NS-H), stereo with head-tracking (S-H), non-stereo with kinetic-depth effect (NS-KD  ... 
doi:10.1117/12.2037942 fatcat:wxutnmtgbjcrxatqnatftnkemi

Representation of Shapes, Edges, and Surfaces Across Multiple Cues in the Human Visual Cortex

Joakim Vinberg, Kalanit Grill-Spector
2008 Journal of Neurophysiology  
Ϯ 27%, (motion-objects and stereo-objects)/stereo-objects ϭ 39 Ϯ 23%; left hemisphere: (motion-objects and stereo-objects)/motion-objects ϭ 64 Ϯ 31%, (motion-objects and stereo-objects)/stereo-objects  ...  Voxel-by-voxel activation maps of each condition vs. random in each of the stereo and motion experiments were generated for each subject and displayed on flattened hemispheres, with a representative subject  ... 
doi:10.1152/jn.01223.2007 pmid:18171705 fatcat:im2qbtfy3ngkzmxupaczpbzgfa

Robust unified stereo-based 3D head tracking and its application to face recognition

Kwang Ho An, Myung Jin Chung
2010 2010 IEEE International Conference on Robotics and Automation  
To cope with large out-of-plane rotations and translation in-depth, we extend conventional head tracking with a single camera to a stereo-based framework.  ...  This paper investigates the estimation of 3D head poses and its identity authentication with a partial ellipsoid model.  ...  Also, to complement the weakness of a single camera system, we extend conventional head tracking with a single camera to a stereo-based framework.  ... 
doi:10.1109/robot.2010.5509999 dblp:conf/icra/AnC10 fatcat:7lttahkp6fbolo7cukdnqh4bxu

Modeling the Combination of Motion, Stereo, and Vergence Angle Cues to Visual Depth

I. Fine, Robert A. Jacobs
1999 Neural Computation  
In a second set of experiments, the modified weak model was given contradictory motion and stereo information.  ...  The models differ in the amount of interaction that they permit among the cues of stereo, motion, and vergence angle.  ...  Aslin for many useful discussions and for commenting on an earlier version of this article. This work was supported by NIH research grant R29-MH54770.  ... 
doi:10.1162/089976699300016250 pmid:10423497 fatcat:ppawxknbm5fadfzm4rxrdfgfsm

Page 680 of SMPTE Motion Imaging Journal Vol. 80, Issue 8 [page]

1971 SMPTE Motion Imaging Journal  
The console has eight full-stereo input mixing channels, left and right stereo output channels, a stereo audition output, two stereo out- puts with muting and on-the-air lamp re- lays.  ...  It is designed es- pecially for use by a radio station featur- ing FM stereo broadcasting with or with- out AM transmitters.  ... 
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