9,134 research outputs found
Detection of Airport Runway Edges using Line Detection Techniques
Airport runway detection is a vital aspect for both military and commercial applications. An algorithm to extract runway edges based on edge detection and line detection techniques is discussed. The runway images are initially enhanced by dilation, thresholding and edge detection. Based on some unique characteristics like the runway being gray with two white lines indicating the runway boundaries, long and continuous edges of the runway are considered to be straight lines. The straight lines are detected using Convolution operators pertaining to vertical, 45° or -45° lines. Hough Transform is then applied to fit only the pair of lines corresponding to the runway boundaries in certain orientations. The test results prove that combination of Convolution and Hough transform is very competent in detecting runway edges accurately
Real-time automated road, lane and car detection for autonomous driving
In this paper, we discuss a vision based system for autonomous guidance of vehicles. An autonomous intelligent vehicle has to perform a number of
functionalities. Segmentation of the road, determining the boundaries to drive in and recognizing the vehicles and obstacles around are the main tasks for vision guided vehicle navigation. In this article we propose a set of algorithms which lead to the solution of road and vehicle segmentation using data from a color camera. The algorithms described here combine gray value difference
and texture analysis techniques to segment the road from the image, several geometric transformations and contour processing algorithms are used to segment lanes, and moving cars are extracted with the help of background modeling and estimation. The techniques developed have been tested in real road images and the results are presented
Perception of Motion and Architectural Form: Computational Relationships between Optical Flow and Perspective
Perceptual geometry refers to the interdisciplinary research whose objectives
focuses on study of geometry from the perspective of visual perception, and in
turn, applies such geometric findings to the ecological study of vision.
Perceptual geometry attempts to answer fundamental questions in perception of
form and representation of space through synthesis of cognitive and biological
theories of visual perception with geometric theories of the physical world.
Perception of form, space and motion are among fundamental problems in vision
science. In cognitive and computational models of human perception, the
theories for modeling motion are treated separately from models for perception
of form.Comment: 10 pages, 13 figures, submitted and accepted in DoCEIS'2012
Conference: http://www.uninova.pt/doceis/doceis12/home/home.ph
A Minimalist Approach to Type-Agnostic Detection of Quadrics in Point Clouds
This paper proposes a segmentation-free, automatic and efficient procedure to
detect general geometric quadric forms in point clouds, where clutter and
occlusions are inevitable. Our everyday world is dominated by man-made objects
which are designed using 3D primitives (such as planes, cones, spheres,
cylinders, etc.). These objects are also omnipresent in industrial
environments. This gives rise to the possibility of abstracting 3D scenes
through primitives, thereby positions these geometric forms as an integral part
of perception and high level 3D scene understanding.
As opposed to state-of-the-art, where a tailored algorithm treats each
primitive type separately, we propose to encapsulate all types in a single
robust detection procedure. At the center of our approach lies a closed form 3D
quadric fit, operating in both primal & dual spaces and requiring as low as 4
oriented-points. Around this fit, we design a novel, local null-space voting
strategy to reduce the 4-point case to 3. Voting is coupled with the famous
RANSAC and makes our algorithm orders of magnitude faster than its conventional
counterparts. This is the first method capable of performing a generic
cross-type multi-object primitive detection in difficult scenes. Results on
synthetic and real datasets support the validity of our method.Comment: Accepted for publication at CVPR 201
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A words-of-interest model of sketch representation for image retrieval
In this paper we propose a method for sketch-based image retrieval. Sketch is a magical medium which is capable of conveying semantic messages for user. It’s in accordance with user’s cognitive psychology to retrieve images with sketch. In order to narrow down the semantic gap between the user and the images in database, we preprocess all the images into sketches by the coherent line drawing algorithm. During the process of sketches extraction, saliency maps are used to filter out the redundant background information, while preserve the important semantic information. We use a variant of Words-of-Interest model to retrieve relevant images for the user according to the query. Words-of-Interest (WoI) model is based on Bag-ofvisual Words (BoW) model, which has been proven successfully for information retrieval. Bag-of-Words ignores the spatial relationships among visual words, which are important for sketch representation. Our method takes advantage of the spatial information of the query to select words of interest. Experimental results demonstrate that our sketch-based retrieval method achieves a good tradeoff between retrieval accuracy and semantic representation of users’ query
Recovering 6D Object Pose: A Review and Multi-modal Analysis
A large number of studies analyse object detection and pose estimation at
visual level in 2D, discussing the effects of challenges such as occlusion,
clutter, texture, etc., on the performances of the methods, which work in the
context of RGB modality. Interpreting the depth data, the study in this paper
presents thorough multi-modal analyses. It discusses the above-mentioned
challenges for full 6D object pose estimation in RGB-D images comparing the
performances of several 6D detectors in order to answer the following
questions: What is the current position of the computer vision community for
maintaining "automation" in robotic manipulation? What next steps should the
community take for improving "autonomy" in robotics while handling objects? Our
findings include: (i) reasonably accurate results are obtained on
textured-objects at varying viewpoints with cluttered backgrounds. (ii) Heavy
existence of occlusion and clutter severely affects the detectors, and
similar-looking distractors is the biggest challenge in recovering instances'
6D. (iii) Template-based methods and random forest-based learning algorithms
underlie object detection and 6D pose estimation. Recent paradigm is to learn
deep discriminative feature representations and to adopt CNNs taking RGB images
as input. (iv) Depending on the availability of large-scale 6D annotated depth
datasets, feature representations can be learnt on these datasets, and then the
learnt representations can be customized for the 6D problem
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