Efficient MaxCount and threshold operators of moving objects

Calculating operators of continuously moving objects presents some unique challenges, especially when the operators involve aggregation or the concept of congestion, which happens when the number of moving objects in a changing or dynamic query space exceeds some threshold value. This paper presents the following six d-dimensional moving object operators: (1) MaxCount (or MinCount), which finds the Maximum (or Minimum) number of moving objects simultaneously present in the dynamic query space at any time during the query time interval. (2) CountRange, which finds a count of point objects whose trajectories intersect the dynamic query space during the query time interval. (3) ThresholdRange, which finds the set of time intervals during which the dynamic query space is congested. (4) ThresholdSum, which finds the total length of all the time intervals during which the dynamic query space is congested. (5) ThresholdCount, which finds the number of disjoint time intervals during which the dynamic query space is congested. And (6) ThresholdAverage, which finds the average length of time of all the time intervals when the dynamic query space is congested. For these operators separate algorithms are given to find only estimate or only precise values. Experimental results from more than 7,500 queries indicate that the estimation algorithms produce fast, efficient results with error under 5%

Under vehicle perception for high level safety measures using a catadioptric camera system

In recent years, under vehicle surveillance and the classification of the vehicles become an indispensable task that must be achieved for security measures in certain areas such as shopping centers, government buildings, army camps etc. The main challenge to achieve this task is to monitor the under frames of the means of transportations. In this paper, we present a novel solution to achieve this aim. Our solution consists of three main parts: monitoring, detection and classification. In the first part we design a new catadioptric camera system in which the perspective camera points downwards to the catadioptric mirror mounted to the body of a mobile robot. Thanks to the catadioptric mirror the scenes against the camera optical axis direction can be viewed. In the second part we use speeded up robust features (SURF) in an object recognition algorithm. Fast appearance based mapping algorithm (FAB-MAP) is exploited for the classification of the means of transportations in the third part. Proposed technique is implemented in a laboratory environment

Creation of virtual worlds from 3D models retrieved from content aware networks based on sketch and image queries

The recent emergence of user generated content requires new content creation tools that will be both easy to learn and easy to use. These new tools should enable the user to construct new high-quality content with minimum effort; it is essential to allow existing multimedia content to be reused as building blocks when creating new content. In this work we present a new tool for automatically constructing virtual worlds with minimum user intervention. Users can create these worlds by drawing a simple sketch, or by using interactively segmented 2D objects from larger images. The system receives as a query the sketch or the segmented image, and uses it to find similar 3D models that are stored in a Content Centric Network. The user selects a suitable model from the retrieved models, and the system uses it to automatically construct a virtual 3D world

Mesh-based 3D Textured Urban Mapping

In the era of autonomous driving, urban mapping represents a core step to let vehicles interact with the urban context. Successful mapping algorithms have been proposed in the last decade building the map leveraging on data from a single sensor. The focus of the system presented in this paper is twofold: the joint estimation of a 3D map from lidar data and images, based on a 3D mesh, and its texturing. Indeed, even if most surveying vehicles for mapping are endowed by cameras and lidar, existing mapping algorithms usually rely on either images or lidar data; moreover both image-based and lidar-based systems often represent the map as a point cloud, while a continuous textured mesh representation would be useful for visualization and navigation purposes. In the proposed framework, we join the accuracy of the 3D lidar data, and the dense information and appearance carried by the images, in estimating a visibility consistent map upon the lidar measurements, and refining it photometrically through the acquired images. We evaluate the proposed framework against the KITTI dataset and we show the performance improvement with respect to two state of the art urban mapping algorithms, and two widely used surface reconstruction algorithms in Computer Graphics.Comment: accepted at iros 201