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Egomotion Estimation Using Assorted Features

Vivek Pradeep, Jongwoo Lim
2011 International Journal of Computer Vision  
This is demonstrated with extensive experiments and comparisons against the 3-point and line-sfm algorithms.  ...  The mathematical framework of our method is based on trifocal tensor geometry and a quaternion representation of rotation matrices.  ...  from noisy trifocal tensors.  ... 
doi:10.1007/s11263-011-0504-5 fatcat:ne3rvjnugnf4xi2xdmgaibxfsu

Zoom-invariant tracking using points and lines in affine views. An application of the affine multifocal tensors

E. Hayman, T. Thorhallson, D.W. Murray
1999 Proceedings of the Seventh IEEE International Conference on Computer Vision  
In order to also make use of lines the paper then illustrates how the affine tri-and quadrifocal tensors may be applied to tracking with zoom in monocular and stereo systems respectively.  ...  This paper describes methods for tracking using point and line features in affine views to provide fundamental invariance to changes of focal length.  ...  The quadrifocal tensor in the original frame is given by q = T B«. Figure 3 . 3 Tracking an object with a stereo head using the trifocal tensors derived from the quadrifocal tensor for transfer.  ... 
doi:10.1109/iccv.1999.791230 dblp:conf/iccv/HaymanTM99 fatcat:g7h43zeiprcmfh6vtcmr63lz5y

Continuous Event-Line Constraint for Closed-Form Velocity Initialization [article]

Peng Xin, Xu Wanting, Yang Jiaqi, Kneip Laurent
2021 arXiv   pre-print
We propose the continuous event-line constraint, which relies on a constant-velocity motion assumption as well as trifocal tensor geometry in order to express a relationship between line observations given  ...  Event cameras are particularly well suited to sense motion dynamics in agile scenarios.  ...  Continuous Event-Line Constraint We give a review of the trifocal tensor with standard cameras.  ... 
arXiv:2109.04313v2 fatcat:meu5klvignas5kvvkhhiakfale

Virtual Target Formulation for Singularity-Free Visual Control Using the Trifocal Tensor [chapter]

H. M. Becerra, J. B. Hayet, C. Sagüés
2013 Lecture Notes in Computer Science  
from the real target.  ...  We present a novel approach for visual control of wheeled mobile robots, extending the existing works that use the trifocal tensor as source for measurements.  ...  = T 132 T 131 . (7) Note that the first tensor element comes from the "true" trifocal tensor, while the last two elements come from the virtual one.  ... 
doi:10.1007/978-3-642-38989-4_4 fatcat:td7q33uodrfavjqsddvoxy2dyi

Sinusoidal input-based visual control for nonholonomic vehicles

M. Aranda, G. López-Nicolás, C. Sagüés
2013 Robotica (Cambridge. Print)  
All the information used in the control scheme is obtained from omnidirectional vision by means of the 1D trifocal tensor.  ...  For the second part of the motion, i.e. the straight-line path, we computed the controls associated to our method directly from the elements of the 1D trifocal tensor, as described in section IV.  ...  the 1D trifocal tensor.  ... 
doi:10.1017/s0263574713000106 fatcat:cuqtgums55b7baxd3dcp4blmry

3D face and motion estimation from sparse points using adaptive bracketed minimization

Varin Chouvatut, Suthep Madarasmi, Mihran Tuceryan
2011 Multimedia tools and applications  
This paper presents a novel method for estimating camera motion and reconstructing human face from a video sequence.  ...  Examples of face reconstruction using other methods including trifocal tensor, Powell's minimization, and gradient descent are also compared to the proposed method.  ...  The trifocal tensor with camera-resectioning approach, detailed in [11] , is used.  ... 
doi:10.1007/s11042-011-0925-8 fatcat:kdtio5bvdzh6xo2zrjfzn3nk4u

Occlusion Handling in Augmented Reality Using Background-Foreground Segmentation and Projective Geometry

Hee Lin Wang, Kuntal Sengupta, Pankaj Kumar, Rajeev Sharma
2005 Presence - Teleoperators and Virtual Environments  
Extending the work further, we propose a novel method of augmentation by using trifocal tensors to augment 3D objects in 3D scenes to similar effect and implement it in real time as a proof of concept.  ...  The overlay is robust to arbitrary camera motion.  ...  Shape and motion from image streams: A factorization method. Part 3-Detection and tracking of point features. CMU-CS-TR-91-132. Uenohara, M., & Kanade, T. (1995).  ... 
doi:10.1162/105474605323384636 fatcat:5be66zubsveblh2s2avosxb3sa

Laser steering using virtual trifocal visual servoing

Nicolas Andreff, Brahim Tamadazte
2015 The international journal of robotics research  
Moreover, only "twenty-five lines of code" are necessary to design a fast trifocal control system.  ...  It proposes to revisit the conventional trifocal constraints governing a three-view geometry for a more suitable use in the design of an efficient trifocal vision-based control.  ...  Peter Sturm from the INRIA Grenoble Rhône-Alpes (STEEP research team), France, as well as the reviewers for all their comments allowing to improve this paper.  ... 
doi:10.1177/0278364915585585 fatcat:7v3t2xmebfcjhfvblgxi73tk2e

Weakly calibrated stereoscopic visual servoing for laser steering: Application to phonomicrosurgery

Brahim Tamadazte, Nicolas Andreff
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The method is validated on a realistic testbench and the straight point-to-point trajectories are demonstrated.  ...  To perform this, a visual control law based on trifocal geometry is designed using two cameras and a laser source (virtual camera).  ...  and the set of 3×3 matrix T 1 , T 2 , and T 3 represent the trifocal tensor T 3×3×3 .  ... 
doi:10.1109/iros.2014.6942641 dblp:conf/iros/TamadazteA14 fatcat:nak2vlkq3naw7jg5xqod3vkgem

Accurate Quadrifocal Tracking for Robust 3D Visual Odometry

A.I. Comport, E. Malis, P. Rives
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
This paper describes a new image-based approach to tracking the 6dof trajectory of a stereo camera pair using a corresponding reference image pairs instead of explicit 3D feature reconstruction of the  ...  The trifocal tensor T is a third order tensor represented by a homogeneous 3 × 3 × 3 array of elements.  ...  T jk i = k j m t m k n i r o n k −1 k o − k k m t m k n i r o n k −1 j , where (r , Given any line l coincident with p or any line l coincident with p then the trifocal tensor contracts so as to become  ... 
doi:10.1109/robot.2007.363762 dblp:conf/icra/ComportMR07 fatcat:annqirp3preyrhn4uphcm7ygvu

The Applications of Uncalibrated Occlusion Junctions

A. Broadhurst, R. Cipolla
1999 Procedings of the British Machine Vision Conference 1999  
The first algorithm uses the trifocal tensor to automatically locate T-junctions visible in three views, whilst the second application uses junction points to obtain a constraint for the detection of planar  ...  When a scene is viewed from two different viewpoints there are often regions which are only visible in one of the two views.  ...  The trifocal tensor [8] can be used to project a line from two views into a third view.  ... 
doi:10.5244/c.13.25 dblp:conf/bmvc/BroadhurstC99 fatcat:plheqlqoyrhmzhtddygvdwizla

Real-time Quadrifocal Visual Odometry

A.I. Comport, E. Malis, P. Rives
2010 The international journal of robotics research  
and INRIA Sophia-Antipolis. † The second two authors are with INRIA,  ...  This paper describes a new image-based approach to tracking the 6 degrees of freedom trajectory of a stereo camera pair using a corresponding reference image pair whilst simultaneously determining pixel  ...  Given any line l coincident with p or any line l ′ coincident with p ′ then the trifocal tensor contracts so as to become a homography h which maps points from one reference image to the current image.  ... 
doi:10.1177/0278364909356601 fatcat:s5uhb7524ndnflr7rxawz7vov4

Appearance-Based Indoor Navigation by IBVS Using Line Segments

Suman Raj Bista, Paolo Robuffo Giordano, Francois Chaumette
2016 IEEE Robotics and Automation Letters  
This paper presents a method for image-based navigation from an image memory using line segments as landmarks.  ...  Real-time navigation has been validated inside a corridor and inside a room with a Pioneer 3DX equipped with an on-board camera.  ...  Let T = [T 1 , T 2 , T 3 ] be the 3 × 3 × 3 trifocal tensor, T 1 ,T 2 and T 3 be the individual 3×3 matrices of T , and l 1 ↔ l 2 ↔ l 3 be the line correspondences in three views: these are 3 × 1 vectors  ... 
doi:10.1109/lra.2016.2521907 dblp:journals/ral/BistaGC16 fatcat:ae5xkgdydfdojpb7e22zerpj7i

Trifocal Relative Pose from Lines at Points

Ricardo Fabbri, Timothy Duff, Hongyi Fan, Margaret H. Regan, David Da Costa De Pinho, Elias Tsigaridas, Charles W. Wampler, Jonathan D. Hauenstein, Peter J. Giblin, Benjamin Kimia, Anton Leykin, Tomas Pajdla
2020 Zenodo  
A scientific paper titled "Trifocal Relative Pose from Lines at Points" co-funded by the H2020 Research and Innovation Action ARtwin (GA:856994)  ...  ., using straight lines as features, with three points, only one free (unattached to a point) straight line feature is required.  ...  Seminal works used curves and edges in three views to transfer differential geometry for matching [5, 61] , and for pose and trifocal tensor estimation [13, 66] , beyond straight lines for uncalibrated  ... 
doi:10.5281/zenodo.4024124 fatcat:2aiga5ck3fe6dektwo24kpqnk4

A single visual-servo controller of mobile robots with super-twisting control

H.M. Becerra, J.B. Hayet, C. Sagüés
2014 Robotics and Autonomous Systems  
This paper presents a novel approach for image-based visual servoing, extending the existing works that use the trifocal tensor (TT) as source for image measurements.  ...  A formulation of the TT-based control problem with a virtual target resulting from the vertical translation of the real target allows us to design a single controller, able to regulate the robot pose towards  ...  A simple workaround uses the fact that the TT gives a unique transferred straight line for the third view, given any two straight lines equations in the first and second views.  ... 
doi:10.1016/j.robot.2014.03.009 fatcat:iiniblfrzzgktnmtwhidilrn4m
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