Generic decoupled image-based visual servoing for cameras obeying the unified projection model

In this paper a generic decoupled imaged-based control scheme for calibrated cameras obeying the unified projection model is proposed. The proposed decoupled scheme is based on the surface of object projections onto the unit sphere. Such features are invariant to rotational motions. This allows the control of translational motion independently from the rotational motion. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6 dofs robot platform

The invariant joint distribution of a stationary random field and its derivatives: Euler characteristic and critical point counts in 2 and 3D

The full moments expansion of the joint probability distribution of an isotropic random field, its gradient and invariants of the Hessian is presented in 2 and 3D. It allows for explicit expression for the Euler characteristic in ND and computation of extrema counts as functions of the excursion set threshold and the spectral parameter, as illustrated on model examples.Comment: 4 pages, 2 figures. Corrected expansion coefficients for orders n>=5. Relation between Gram-Charlier and Edgeworth expansions is clarified

Recognition of human body posture from a cloud of 3D data points using wavelet transform coefficients

Addresses the problem of recognizing a human body posture from a cloud of 3D points acquired by a human body scanner. Motivated by finding a representation that embodies a high discriminatory power between posture classes, a new type of feature is suggested, namely the wavelet transform coefficients (WTC) of the 3D data-point distribution projected on to the space of spherical harmonics. A feature selection technique is developed to find those features with high discriminatory power. Integrated within a Bayesian classification framework and compared with other standard features, the WTC showed great capability in discriminating between close postures. The qualities of the WTC features were also reflected in the experimental results carried out with artificially generated postures, where the WTC obtained the best classification rat