29,356 research outputs found
Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects
In this paper we introduce Co-Fusion, a dense SLAM system that takes a live
stream of RGB-D images as input and segments the scene into different objects
(using either motion or semantic cues) while simultaneously tracking and
reconstructing their 3D shape in real time. We use a multiple model fitting
approach where each object can move independently from the background and still
be effectively tracked and its shape fused over time using only the information
from pixels associated with that object label. Previous attempts to deal with
dynamic scenes have typically considered moving regions as outliers, and
consequently do not model their shape or track their motion over time. In
contrast, we enable the robot to maintain 3D models for each of the segmented
objects and to improve them over time through fusion. As a result, our system
can enable a robot to maintain a scene description at the object level which
has the potential to allow interactions with its working environment; even in
the case of dynamic scenes.Comment: International Conference on Robotics and Automation (ICRA) 2017,
http://visual.cs.ucl.ac.uk/pubs/cofusion,
https://github.com/martinruenz/co-fusio
Real-time marker-less multi-person 3D pose estimation in RGB-Depth camera networks
This paper proposes a novel system to estimate and track the 3D poses of
multiple persons in calibrated RGB-Depth camera networks. The multi-view 3D
pose of each person is computed by a central node which receives the
single-view outcomes from each camera of the network. Each single-view outcome
is computed by using a CNN for 2D pose estimation and extending the resulting
skeletons to 3D by means of the sensor depth. The proposed system is
marker-less, multi-person, independent of background and does not make any
assumption on people appearance and initial pose. The system provides real-time
outcomes, thus being perfectly suited for applications requiring user
interaction. Experimental results show the effectiveness of this work with
respect to a baseline multi-view approach in different scenarios. To foster
research and applications based on this work, we released the source code in
OpenPTrack, an open source project for RGB-D people tracking.Comment: Submitted to the 2018 IEEE International Conference on Robotics and
Automatio
A practical multirobot localization system
We present a fast and precise vision-based software intended for multiple robot localization. The core component of the software is a novel and efficient algorithm for black and white pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision and its computational complexity is independent of the processed image size. With off-the-shelf computational equipment and low-cost cameras, the core algorithm is able to process hundreds of images per second while tracking hundreds of objects with a millimeter precision. In addition, we present the method's mathematical model, which allows to estimate the expected localization precision, area of coverage, and processing speed from the camera's intrinsic parameters and hardware's processing capacity. The correctness of the presented model and performance of the algorithm in real-world conditions is verified in several experiments. Apart from the method description, we also make its source code public at \emph{http://purl.org/robotics/whycon}; so, it can be used as an enabling technology for various mobile robotic problems
Unobtrusive and pervasive video-based eye-gaze tracking
Eye-gaze tracking has long been considered a desktop technology that finds its use inside the traditional office setting, where the operating conditions may be controlled. Nonetheless, recent advancements in mobile technology and a growing interest in capturing natural human behaviour have motivated an emerging interest in tracking eye movements within unconstrained real-life conditions, referred to as pervasive eye-gaze tracking. This critical review focuses on emerging passive and unobtrusive video-based eye-gaze tracking methods in recent literature, with the aim to identify different research avenues that are being followed in response to the challenges of pervasive eye-gaze tracking. Different eye-gaze tracking approaches are discussed in order to bring out their strengths and weaknesses, and to identify any limitations, within the context of pervasive eye-gaze tracking, that have yet to be considered by the computer vision community.peer-reviewe
3D face tracking and multi-scale, spatio-temporal analysis of linguistically significant facial expressions and head positions in ASL
Essential grammatical information is conveyed in signed languages by clusters of events involving facial expressions and movements of the head and upper body. This poses a significant challenge for computer-based sign language recognition. Here, we present new methods for the recognition of nonmanual grammatical markers in American Sign Language (ASL) based on: (1) new 3D tracking methods for the estimation of 3D head pose and facial expressions to determine the relevant low-level features; (2) methods for higher-level analysis of component events (raised/lowered eyebrows, periodic head nods and head shakes) used in grammatical markings—with differentiation of temporal phases (onset, core, offset, where appropriate), analysis of their characteristic properties, and extraction of corresponding features; (3) a 2-level learning framework to combine lowand high-level features of differing spatio-temporal scales. This new approach achieves significantly better tracking and recognition results than our previous methods
Synergy-based Hand Pose Sensing: Reconstruction Enhancement
Low-cost sensing gloves for reconstruction posture provide measurements which
are limited under several regards. They are generated through an imperfectly
known model, are subject to noise, and may be less than the number of Degrees
of Freedom (DoFs) of the hand. Under these conditions, direct reconstruction of
the hand posture is an ill-posed problem, and performance can be very poor.
This paper examines the problem of estimating the posture of a human hand
using(low-cost) sensing gloves, and how to improve their performance by
exploiting the knowledge on how humans most frequently use their hands. To
increase the accuracy of pose reconstruction without modifying the glove
hardware - hence basically at no extra cost - we propose to collect, organize,
and exploit information on the probabilistic distribution of human hand poses
in common tasks. We discuss how a database of such an a priori information can
be built, represented in a hierarchy of correlation patterns or postural
synergies, and fused with glove data in a consistent way, so as to provide a
good hand pose reconstruction in spite of insufficient and inaccurate sensing
data. Simulations and experiments on a low-cost glove are reported which
demonstrate the effectiveness of the proposed techniques.Comment: Submitted to International Journal of Robotics Research (2012
Markerless Motion Capture in the Crowd
This work uses crowdsourcing to obtain motion capture data from video
recordings. The data is obtained by information workers who click repeatedly to
indicate body configurations in the frames of a video, resulting in a model of
2D structure over time. We discuss techniques to optimize the tracking task and
strategies for maximizing accuracy and efficiency. We show visualizations of a
variety of motions captured with our pipeline then apply reconstruction
techniques to derive 3D structure.Comment: Presented at Collective Intelligence conference, 2012
(arXiv:1204.2991
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