Enhanced tracking and recognition of moving objects by reasoning about spatio-temporal continuity.

A framework for the logical and statistical analysis and annotation of dynamic scenes containing occlusion and other uncertainties is presented. This framework consists of three elements; an object tracker module, an object recognition/classification module and a logical consistency, ambiguity and error reasoning engine. The principle behind the object tracker and object recognition modules is to reduce error by increasing ambiguity (by merging objects in close proximity and presenting multiple hypotheses). The reasoning engine deals with error, ambiguity and occlusion in a unified framework to produce a hypothesis that satisfies fundamental constraints on the spatio-temporal continuity of objects. Our algorithm finds a globally consistent model of an extended video sequence that is maximally supported by a voting function based on the output of a statistical classifier. The system results in an annotation that is significantly more accurate than what would be obtained by frame-by-frame evaluation of the classifier output. The framework has been implemented and applied successfully to the analysis of team sports with a single camera. Key words: Visua

Depth measurement in integral images.

The development of a satisfactory the three-dimensional image system is a constant pursuit of the scientific community and entertainment industry. Among the many different methods of producing three-dimensional images, integral imaging is a technique that is capable of creating and encoding a true volume spatial optical model of the object scene in the form of a planar intensity distribution by using unique optical components. The generation of depth maps from three-dimensional integral images is of major importance for modern electronic display systems to enable content-based interactive manipulation and content-based image coding. The aim of this work is to address the particular issue of analyzing integral images in order to extract depth information from the planar recorded integral image. To develop a way of extracting depth information from the integral image, the unique characteristics of the three-dimensional integral image data have been analyzed and the high correlation existing between the pixels at one microlens pitch distance interval has been discovered. A new method of extracting depth information from viewpoint image extraction is developed. The viewpoint image is formed by sampling pixels at the same local position under different micro-lenses. Each viewpoint image is a two-dimensional parallel projection of the three-dimensional scene. Through geometrically analyzing the integral recording process, a depth equation is derived which describes the mathematic relationship between object depth and the corresponding viewpoint images displacement. With the depth equation, depth estimation is then converted to the task of disparity analysis. A correlation-based block matching approach is chosen to find the disparity among viewpoint images. To improve the performance of the depth estimation from the extracted viewpoint images, a modified multi-baseline algorithm is developed, followed by a neighborhood constraint and relaxation technique to improve the disparity analysis. To deal with the homogenous region and object border where the correct depth estimation is almost impossible from disparity analysis, two techniques, viz. Feature Block Pre-selection and “Consistency Post-screening, are further used. The final depth maps generated from the available integral image data have achieved very good visual effects

What can be done with an embedded stereo-rig in urban environments?

International audienceThe development of the Autonomous Guided Vehicles (AGVs) with urban applications are now possible due to the recent solutions (DARPA Grand Challenge) developed to solve the Simultaneous Localization And Mapping (SLAM) problem: perception, path planning and control. For the last decade, the introduction of GPS systems and vision have been allowed the transposition of SLAM methods dedicated to indoor environments to outdoor ones. When the GPS data are unavailable, the current position of the mobile robot can be estimated by the fusion of data from odometer and/or Inertial Navigation System (INS). We detail in this article what can be done with an uncalibrated stereo-rig, when it is embedded in a vehicle which is going through urban roads. The methodology is based on features extracted on planes: we mainly assume the road at the foreground as the plane common to all the urban scenes but other planes like vertical frontages of buildings can be used if the features extracted on the road are not enough relevant. The relative motions of the coplanar features tracked with both cameras allow us to stimate the vehicle ego-motion with a high precision. Futhermore, the features which don't check the relative motion of the considered plane can be assumed as obstacles