19 research outputs found

    Calibration and Sensitivity Analysis of a Stereo Vision-Based Driver Assistance System

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    Az http://intechweb.org/ alatti "Books" fül alatt kell rákeresni a "Stereo Vision" címre és az 1. fejezetre

    Multi-camera object segmentation in dynamically textured scenes using disparity contours

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    This thesis presents a stereo-based object segmentation system that combines the simplicity and efficiency of the background subtraction approach with the capacity of dealing with dynamic lighting and background texture and large textureless regions. The method proposed here does not rely on full stereo reconstruction or empirical parameter tuning, but employs disparity-based hypothesis verification to separate multiple objects at different depths.The proposed stereo-based segmentation system uses a pair of calibrated cameras with a small baseline and factors the segmentation problem into two stages: a well-understood offline stage and a novel online one. Based on the calibrated parameters, the offline stage models the 3D geometry of a background by constructing a complete disparity map. The online stage compares corresponding new frames synchronously captured by the two cameras according to the background disparity map in order to falsify the hypothesis that the scene contains only background. The resulting object boundary contours possess a number of useful features that can be exploited for object segmentation.Three different approaches to contour extraction and object segmentation were experimented with and their advantages and limitations analyzed. The system demonstrates its ability to extract multiple objects from a complex scene with near real-time performance. The algorithm also has the potential of providing precise object boundaries rather than just bounding boxes, and is extensible to perform 2D and 3D object tracking and online background update

    A Vision System for Automating Municipal Waste Collection

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    This thesis describes an industry need to make municipal waste collection more efficient. In an attempt to solve this need Waterloo Controls Inc. and a research team at UWO are exploring the idea of combining a vision system and a robotic arm to complete the waste collection process. The system as a whole is described during the introduction section of this report, but the specific goal of this thesis was the development of the vision system component. This component is the main contribution of this thesis and consists of a candidate selection step followed by a verification step

    A parking assistant system

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    Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2002.Includes bibliographical references (p. 111-114).Parking a car can be very cumbersome and difficult in many circumstances, especially when the rear view of the car is blocked. This thesis designs a prototype for an efficient parking assistant system that aims to facilitate the parking process by providing the drivers with distance information of obstacles in the scene. A video camera mounted on the rear window of a car is used to supply a sequence of input images to the system which then generates a 3-D depth map of the environment. The algorithm proposed in this thesis to reconstruct 3-D distance information from an image sequence involves several steps. First, feature points are extracted in each image using a Curvature Scale Space (CSS) based corner detector. Corresponding feature points are then matched between consecutive frames and tracked through the entire sequence. Using the motion parameters of the vehicle obtained from measuring the angular moment of the steering wheel and the distance information provided by the wheel encoders attached to the rear wheels of the vehicle, the distance of objects in the scene can be reasonably estimated. The algorithm is tested on several sets of real image sequences captured inside a parking lot. Some experimental results are presented and analyzed in detail.by Duangmanee Putthividhya.M.Eng

    Scalable multi-view stereo camera array for real world real-time image capture and three-dimensional displays

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    Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2004.Includes bibliographical references (leaves 71-75).The number of three-dimensional displays available is escalating and yet the capturing devices for multiple view content are focused on either single camera precision rigs that are limited to stationary objects or the use of synthetically created animations. In this work we will use the existence of inexpensive digital CMOS cameras to explore a multi- image capture paradigm and the gathering of real world real-time data of active and static scenes. The capturing system can be developed and employed for a wide range of applications such as portrait-based images for multi-view facial recognition systems, hypostereo surgical training systems, and stereo surveillance by unmanned aerial vehicles. The system will be adaptable to capturing the correct stereo views based on the environmental scene and the desired three-dimensional display. Several issues explored by the system will include image calibration, geometric correction, the possibility of object tracking, and transfer of the array technology into other image capturing systems. These features provide the user more freedom to interact with their specific 3-D content while allowing the computer to take on the difficult role of stereoscopic cinematographer.Samuel L. Hill.S.M

    Automated calibration of multi-sensor optical shape measurement system

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    A multi-sensor optical shape measurement system (SMS) based on the fringe projection method and temporal phase unwrapping has recently been commercialised as a result of its easy implementation, computer control using a spatial light modulator, and fast full-field measurement. The main advantage of a multi-sensor SMS is the ability to make measurements for 360° coverage without the requirement for mounting the measured component on translation and/or rotation stages. However, for greater acceptance in industry, issues relating to a user-friendly calibration of the multi-sensor SMS in an industrial environment for presentation of the measured data in a single coordinate system need to be addressed. The calibration of multi-sensor SMSs typically requires a calibration artefact, which consequently leads to significant user input for the processing of calibration data, in order to obtain the respective sensor's optimal imaging geometry parameters. The imaging geometry parameters provide a mapping from the acquired shape data to real world Cartesian coordinates. However, the process of obtaining optimal sensor imaging geometry parameters (which involves a nonlinear numerical optimization process known as bundle adjustment), requires labelling regions within each point cloud as belonging to known features of the calibration artefact. This thesis describes an automated calibration procedure which ensures that calibration data is processed through automated feature detection of the calibration artefact, artefact pose estimation, automated control point selection, and finally bundle adjustment itself. [Continues.

    Increased autonomy for planetary rover operations

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    Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1998.Includes bibliographical references (p. 97-100).by Brian D. Hoffman.S.M

    ESSE 2017. Proceedings of the International Conference on Environmental Science and Sustainable Energy

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    Environmental science is an interdisciplinary academic field that integrates physical-, biological-, and information sciences to study and solve environmental problems. ESSE - The International Conference on Environmental Science and Sustainable Energy provides a platform for experts, professionals, and researchers to share updated information and stimulate the communication with each other. In 2017 it was held in Suzhou, China June 23-25, 2017

    Video-based step measurement in sport and daily living.

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    Current knowledge of tennis player-surface interactions with different court surfaces is limited. The measurement of player step and movement strategy would aid the understanding of tennis player-surface interaction. However, this has not yet been performed: no readily available motion analysis tool is capable of measuring spatio-temporal parameters of gait during match-play tennis. The purpose of this project was to develop, validate and use a motion analysis tool designed to measure player location and foot-surface contacts during match-play tennis.Single camera video footage, obtained from the 2011 Roland Garros Qualifying Tournament, was manually digitised to characterise step and movement strategy during men's and women's forehand groundstrokes. Player movements were consistent with previous notational analyses; however gender differences were highlighted for step frequency. Initial findings were limited by manual analysis, e.g. manual digitising subjectivity and low sample size: an objective and automated system was required.A markerless, view-independent, foot-surface contact identification (FSCi) algorithm was developed. The FSCi algorithm identifies foot-surface contacts in image sequences of gait by quantifying the motion of each foot. The algorithm was validated using standard colour image sequences of walking and running obtained from four unique camera perspectives: output data were compared to three-dimensional motion analysis. The FSCi algorithm identified data for 1243 of 1248 foot-surface contacts; root-mean-square error (RMSE) was 52.2 and 103.4 mm for shod walking and running respectively (all camera perspectives). Findings demonstrated that the FSCi algorithm measured basic, spatio-temporal parameters of walking and running, e.g. step length and step time, without interfering with the activity being observed. Furthermore, analyses were independent of camera view.Video footage obtained from the 2011 ATP World Tour Finals was used to develop a combined player tracking and foot-surface contact identification (PT-FSCi) algorithm. Furthermore, a graphical user interface was developed. The PT-FSCi algorithm was used to analyse twenty match-play tennis rallies: output data were compared to manual digitising. The PT-FSCi algorithm tracked player position and identified data for 832 of 890 foot-surface contacts during match-play tennis. RMSE for player position and foot-surface contacts was 232.9 and 121.9 mm respectively. The calculation of step parameters required manual intervention: this reflected the multi-directional nature of tennis. This represents a limitation to the current algorithm however the segmentation of player movement phases to allow the automatic calculation of step parameters.The analysis of this data indicated that top ranked tennis players can win rallies using movement strategies previously considered to be defensive. Furthermore, step length data indicated that shorter step lengths formed the majority of step strategy. The largest 25% of steps were observed behind the baseline, aligned with deuce and advantage court sidelines. This reflected lunging and turning manoeuvres at lateral extremes of player movement.The single camera system that has resulted from this project will enable the International Tennis Federation to characterise player step and movement strategy during match-play tennis. This will allow a more informed approach to player-surface interaction research. Furthermore, the system has potential to be used for different applications, ranging from sport to surveillance
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