6,843 research outputs found
GSLAM: Initialization-robust Monocular Visual SLAM via Global Structure-from-Motion
Many monocular visual SLAM algorithms are derived from incremental
structure-from-motion (SfM) methods. This work proposes a novel monocular SLAM
method which integrates recent advances made in global SfM. In particular, we
present two main contributions to visual SLAM. First, we solve the visual
odometry problem by a novel rank-1 matrix factorization technique which is more
robust to the errors in map initialization. Second, we adopt a recent global
SfM method for the pose-graph optimization, which leads to a multi-stage linear
formulation and enables L1 optimization for better robustness to false loops.
The combination of these two approaches generates more robust reconstruction
and is significantly faster (4X) than recent state-of-the-art SLAM systems. We
also present a new dataset recorded with ground truth camera motion in a Vicon
motion capture room, and compare our method to prior systems on it and
established benchmark datasets.Comment: 3DV 2017 Project Page: https://frobelbest.github.io/gsla
Video matching using DC-image and local features
This paper presents a suggested framework for video matching based on local features extracted from the DCimage of MPEG compressed videos, without decompression. The relevant arguments and supporting evidences are discussed for developing video similarity techniques that works directly on compressed videos, without decompression, and especially utilising small size images. Two experiments are carried to support the above. The first is comparing between the DC-image and I-frame, in terms of matching performance and the corresponding computation complexity. The second experiment compares between using local features and global features in video matching, especially in the compressed domain and with the small size images. The results confirmed that the use of DC-image, despite its highly reduced size, is promising as it produces at least similar (if not better) matching precision, compared to the full I-frame. Also, using SIFT, as a local feature, outperforms precision of most of the standard global features. On the other hand, its computation complexity is relatively higher, but it is still within the realtime margin. There are also various optimisations that can be done to improve this computation complexity
Probabilistic RGB-D Odometry based on Points, Lines and Planes Under Depth Uncertainty
This work proposes a robust visual odometry method for structured
environments that combines point features with line and plane segments,
extracted through an RGB-D camera. Noisy depth maps are processed by a
probabilistic depth fusion framework based on Mixtures of Gaussians to denoise
and derive the depth uncertainty, which is then propagated throughout the
visual odometry pipeline. Probabilistic 3D plane and line fitting solutions are
used to model the uncertainties of the feature parameters and pose is estimated
by combining the three types of primitives based on their uncertainties.
Performance evaluation on RGB-D sequences collected in this work and two public
RGB-D datasets: TUM and ICL-NUIM show the benefit of using the proposed depth
fusion framework and combining the three feature-types, particularly in scenes
with low-textured surfaces, dynamic objects and missing depth measurements.Comment: Major update: more results, depth filter released as opensource, 34
page
Deep Detection of People and their Mobility Aids for a Hospital Robot
Robots operating in populated environments encounter many different types of
people, some of whom might have an advanced need for cautious interaction,
because of physical impairments or their advanced age. Robots therefore need to
recognize such advanced demands to provide appropriate assistance, guidance or
other forms of support. In this paper, we propose a depth-based perception
pipeline that estimates the position and velocity of people in the environment
and categorizes them according to the mobility aids they use: pedestrian,
person in wheelchair, person in a wheelchair with a person pushing them, person
with crutches and person using a walker. We present a fast region proposal
method that feeds a Region-based Convolutional Network (Fast R-CNN). With this,
we speed up the object detection process by a factor of seven compared to a
dense sliding window approach. We furthermore propose a probabilistic position,
velocity and class estimator to smooth the CNN's detections and account for
occlusions and misclassifications. In addition, we introduce a new hospital
dataset with over 17,000 annotated RGB-D images. Extensive experiments confirm
that our pipeline successfully keeps track of people and their mobility aids,
even in challenging situations with multiple people from different categories
and frequent occlusions. Videos of our experiments and the dataset are
available at http://www2.informatik.uni-freiburg.de/~kollmitz/MobilityAidsComment: 7 pages, ECMR 2017, dataset and videos:
http://www2.informatik.uni-freiburg.de/~kollmitz/MobilityAids
Spread spectrum-based video watermarking algorithms for copyright protection
Merged with duplicate record 10026.1/2263 on 14.03.2017 by CS (TIS)Digital technologies know an unprecedented expansion in the last years. The consumer can
now benefit from hardware and software which was considered state-of-the-art several years
ago. The advantages offered by the digital technologies are major but the same digital
technology opens the door for unlimited piracy. Copying an analogue VCR tape was certainly
possible and relatively easy, in spite of various forms of protection, but due to the analogue
environment, the subsequent copies had an inherent loss in quality. This was a natural way of
limiting the multiple copying of a video material. With digital technology, this barrier
disappears, being possible to make as many copies as desired, without any loss in quality
whatsoever. Digital watermarking is one of the best available tools for fighting this threat.
The aim of the present work was to develop a digital watermarking system compliant with the
recommendations drawn by the EBU, for video broadcast monitoring. Since the watermark
can be inserted in either spatial domain or transform domain, this aspect was investigated and
led to the conclusion that wavelet transform is one of the best solutions available. Since
watermarking is not an easy task, especially considering the robustness under various attacks
several techniques were employed in order to increase the capacity/robustness of the system:
spread-spectrum and modulation techniques to cast the watermark, powerful error correction
to protect the mark, human visual models to insert a robust mark and to ensure its invisibility.
The combination of these methods led to a major improvement, but yet the system wasn't
robust to several important geometrical attacks. In order to achieve this last milestone, the
system uses two distinct watermarks: a spatial domain reference watermark and the main
watermark embedded in the wavelet domain. By using this reference watermark and techniques
specific to image registration, the system is able to determine the parameters of the attack and
revert it. Once the attack was reverted, the main watermark is recovered. The final result is a
high capacity, blind DWr-based video watermarking system, robust to a wide range of attacks.BBC Research & Developmen
Better Feature Tracking Through Subspace Constraints
Feature tracking in video is a crucial task in computer vision. Usually, the
tracking problem is handled one feature at a time, using a single-feature
tracker like the Kanade-Lucas-Tomasi algorithm, or one of its derivatives.
While this approach works quite well when dealing with high-quality video and
"strong" features, it often falters when faced with dark and noisy video
containing low-quality features. We present a framework for jointly tracking a
set of features, which enables sharing information between the different
features in the scene. We show that our method can be employed to track
features for both rigid and nonrigid motions (possibly of few moving bodies)
even when some features are occluded. Furthermore, it can be used to
significantly improve tracking results in poorly-lit scenes (where there is a
mix of good and bad features). Our approach does not require direct modeling of
the structure or the motion of the scene, and runs in real time on a single CPU
core.Comment: 8 pages, 2 figures. CVPR 201
Unsupervised Segmentation of Action Segments in Egocentric Videos using Gaze
Unsupervised segmentation of action segments in egocentric videos is a
desirable feature in tasks such as activity recognition and content-based video
retrieval. Reducing the search space into a finite set of action segments
facilitates a faster and less noisy matching. However, there exist a
substantial gap in machine understanding of natural temporal cuts during a
continuous human activity. This work reports on a novel gaze-based approach for
segmenting action segments in videos captured using an egocentric camera. Gaze
is used to locate the region-of-interest inside a frame. By tracking two simple
motion-based parameters inside successive regions-of-interest, we discover a
finite set of temporal cuts. We present several results using combinations (of
the two parameters) on a dataset, i.e., BRISGAZE-ACTIONS. The dataset contains
egocentric videos depicting several daily-living activities. The quality of the
temporal cuts is further improved by implementing two entropy measures.Comment: To appear in 2017 IEEE International Conference On Signal and Image
Processing Application
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