581 research outputs found
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
Omni-Directional Catadioptric Acquisition System
An omni-directional catadioptric acquisition system (ODCA system) is provided to address the problem of producing real time, 360°, stereoscopic video of remote events for virtual reality (VR) viewing. The ODCA system is a video image-capture assembly that includes a cylinder with multiple apertures arranged around its circumference to admit light as the ODCA system rotates about a central axis. Inside the cylinder, there is a mirror on the left and right side of each aperture that reflects light rays into the cylinder from different angles. As the cylinder rotates, the light rays are admitted through the apertures and reflected from the two mirrors to a curved mirror in the center of the cylinder. This curved mirror directs the rays down through a catadioptric lens assembly, which focuses the rays onto another curved mirror near the bottom of the ODCA system. This second mirror reflects the rays to a set of line-scan image sensors arranged around the second mirror. The line-scan image sensors capture the rays for later reproduction as stereoscopic video
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Design of wireless swallowable capsule with minimum power consumption and high resolution images
Medical technology has undergone major breakthroughs in recent years, especially in the area of the examination tools for diagnostic purposes. The traditional examination method for the diagnosis of gastrointestinal diseases is gastroscopy with the use of an endoscope. Wireless camera pill has created a new perspective for engineers and physicians. After years of great innovation, commercial swallowable pills have been produced and applied in clinical practice. These pills can cover the examination of the gastrointestinal system and provide to the physicians not only a lot more useful data that is not available from the traditional methods, but also elimination of the use of the painful endoscopy procedure. In this paper, a new design of the wireless swallowable pills has been proposed. It takes advantage of the benefits of every sub-system, like camera lenses, image compressor and RF sub-system. In this way our system can provide enough and accurate data to the physicians
Towards Visual Ego-motion Learning in Robots
Many model-based Visual Odometry (VO) algorithms have been proposed in the
past decade, often restricted to the type of camera optics, or the underlying
motion manifold observed. We envision robots to be able to learn and perform
these tasks, in a minimally supervised setting, as they gain more experience.
To this end, we propose a fully trainable solution to visual ego-motion
estimation for varied camera optics. We propose a visual ego-motion learning
architecture that maps observed optical flow vectors to an ego-motion density
estimate via a Mixture Density Network (MDN). By modeling the architecture as a
Conditional Variational Autoencoder (C-VAE), our model is able to provide
introspective reasoning and prediction for ego-motion induced scene-flow.
Additionally, our proposed model is especially amenable to bootstrapped
ego-motion learning in robots where the supervision in ego-motion estimation
for a particular camera sensor can be obtained from standard navigation-based
sensor fusion strategies (GPS/INS and wheel-odometry fusion). Through
experiments, we show the utility of our proposed approach in enabling the
concept of self-supervised learning for visual ego-motion estimation in
autonomous robots.Comment: Conference paper; Submitted to IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS) 2017, Vancouver CA; 8 pages, 8 figures,
2 table
A Theory of Catadioptric Image Formation
Conventional video cameras have limited fields of view which make them restrictive for certain applications in computational vision. A catadioptric sensor uses a combination of lenses and mirrors placed in a carefully arranged configuration to capture a much wider field of view. When designing a catadioptric sensor, the shape of the mirror(s) should ideally be selected to ensure that the complete catadioptric system has a single effective viewpoint. The reason a single viewpoint is so desirable is that it is a requirement for the generation of pure perspective images from the sensed image(s). In this paper, we derive and analyze the complete class of single-lens single-mirror catadioptric sensors which satisfy the fixed viewpoint constraint. Some of the solutions turn out to be degenerate with no practical value, while other solutions lead to realizable sensors. We also derive an expression for the spatial resolution of a catadioptric sensor, and include a preliminary analysis of the defocus blur caused by the use of a curved mirror
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Virtual viewpoint three-dimensional panorama
Conventional panoramic images are known to provide for an enhanced field of view in which the scene
always has a fixed appearance. The idea presented in this paper focuses on the use of the concept of virtual
viewpoint creation to generate different panoramic images of the same scene with three-dimensional
component. Three-dimensional effect in a resultant panorama is realized by superimposing a stereo-pair of
panoramic images
OmniSCV: An omnidirectional synthetic image generator for computer vision
Omnidirectional and 360Âş images are becoming widespread in industry and in consumer society, causing omnidirectional computer vision to gain attention. Their wide field of view allows the gathering of a great amount of information about the environment from only an image. However, the distortion of these images requires the development of specific algorithms for their treatment and interpretation. Moreover, a high number of images is essential for the correct training of computer vision algorithms based on learning. In this paper, we present a tool for generating datasets of omnidirectional images with semantic and depth information. These images are synthesized from a set of captures that are acquired in a realistic virtual environment for Unreal Engine 4 through an interface plugin. We gather a variety of well-known projection models such as equirectangular and cylindrical panoramas, different fish-eye lenses, catadioptric systems, and empiric models. Furthermore, we include in our tool photorealistic non-central-projection systems as non-central panoramas and non-central catadioptric systems. As far as we know, this is the first reported tool for generating photorealistic non-central images in the literature. Moreover, since the omnidirectional images are made virtually, we provide pixel-wise information about semantics and depth as well as perfect knowledge of the calibration parameters of the cameras. This allows the creation of ground-truth information with pixel precision for training learning algorithms and testing 3D vision approaches. To validate the proposed tool, different computer vision algorithms are tested as line extractions from dioptric and catadioptric central images, 3D Layout recovery and SLAM using equirectangular panoramas, and 3D reconstruction from non-central panoramas
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