3,040 research outputs found
Objective Evaluation Criteria for Shooting Quality of Stereo Cameras over Short Distance
Stereo cameras are the basic tools used to obtain stereoscopic image pairs, which can lead to truly great image quality. However, some inappropriate shooting conditions may cause discomfort while viewing stereo images. It is therefore considerably necessary to establish the perceptual criteria that can be used to evaluate the shooting quality of stereo cameras. This article proposes objective quality evaluation criteria based on the characteristics of parallel and toed-in camera configurations. Considering the different internal structures and basic shooting principles, this paper focuses on short-distance shooting conditions and establishes assessment criteria for both parallel and toed-in camera configurations. Experimental results show that the proposed evaluation criteria can predict the visual perception of stereoscopic images and effectively evaluate stereoscopic image quality
High-speed Video from Asynchronous Camera Array
This paper presents a method for capturing high-speed video using an
asynchronous camera array. Our method sequentially fires each sensor in a
camera array with a small time offset and assembles captured frames into a
high-speed video according to the time stamps. The resulting video, however,
suffers from parallax jittering caused by the viewpoint difference among
sensors in the camera array. To address this problem, we develop a dedicated
novel view synthesis algorithm that transforms the video frames as if they were
captured by a single reference sensor. Specifically, for any frame from a
non-reference sensor, we find the two temporally neighboring frames captured by
the reference sensor. Using these three frames, we render a new frame with the
same time stamp as the non-reference frame but from the viewpoint of the
reference sensor. Specifically, we segment these frames into super-pixels and
then apply local content-preserving warping to warp them to form the new frame.
We employ a multi-label Markov Random Field method to blend these warped
frames. Our experiments show that our method can produce high-quality and
high-speed video of a wide variety of scenes with large parallax, scene
dynamics, and camera motion and outperforms several baseline and
state-of-the-art approaches.Comment: 10 pages, 82 figures, Published at IEEE WACV 201
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
A joint motion & disparity motion estimation technique for 3D integral video compression using evolutionary strategy
3D imaging techniques have the potential to establish a future mass-market in the fields of entertainment and communications. Integral imaging, which can capture true 3D color images with only one camera, has been seen as the right technology to offer stress-free viewing to audiences of more than one person. Just like any digital video, 3D video sequences must also be compressed in order to make it suitable for consumer domain applications. However, ordinary compression techniques found in state-of-the-art video coding standards such as H.264, MPEG-4 and MPEG-2 are not capable of producing enough compression while preserving the 3D clues. Fortunately, a huge amount of redundancies can be found in an integral video sequence in terms of motion and disparity. This paper discusses a novel approach to use both motion and disparity information to compress 3D integral video sequences. We propose to decompose the integral video sequence down to viewpoint video sequences and jointly exploit motion and disparity redundancies to maximize the compression. We further propose an optimization technique based on evolutionary strategies to minimize the computational complexity of the joint motion disparity estimation. Experimental results demonstrate that Joint Motion and Disparity Estimation can achieve over 1 dB objective quality gain over normal motion estimation. Once combined with Evolutionary strategy, this can achieve up to 94% computational cost saving
Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery
One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-opera- tive morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeonâs navigation capabilites by observ- ing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted in- struments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D opti- cal imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions
From Monocular SLAM to Autonomous Drone Exploration
Micro aerial vehicles (MAVs) are strongly limited in their payload and power
capacity. In order to implement autonomous navigation, algorithms are therefore
desirable that use sensory equipment that is as small, low-weight, and
low-power consuming as possible. In this paper, we propose a method for
autonomous MAV navigation and exploration using a low-cost consumer-grade
quadrocopter equipped with a monocular camera. Our vision-based navigation
system builds on LSD-SLAM which estimates the MAV trajectory and a semi-dense
reconstruction of the environment in real-time. Since LSD-SLAM only determines
depth at high gradient pixels, texture-less areas are not directly observed so
that previous exploration methods that assume dense map information cannot
directly be applied. We propose an obstacle mapping and exploration approach
that takes the properties of our semi-dense monocular SLAM system into account.
In experiments, we demonstrate our vision-based autonomous navigation and
exploration system with a Parrot Bebop MAV
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