152,748 research outputs found
Multispectral Palmprint Encoding and Recognition
Palmprints are emerging as a new entity in multi-modal biometrics for human
identification and verification. Multispectral palmprint images captured in the
visible and infrared spectrum not only contain the wrinkles and ridge structure
of a palm, but also the underlying pattern of veins; making them a highly
discriminating biometric identifier. In this paper, we propose a feature
encoding scheme for robust and highly accurate representation and matching of
multispectral palmprints. To facilitate compact storage of the feature, we
design a binary hash table structure that allows for efficient matching in
large databases. Comprehensive experiments for both identification and
verification scenarios are performed on two public datasets -- one captured
with a contact-based sensor (PolyU dataset), and the other with a contact-free
sensor (CASIA dataset). Recognition results in various experimental setups show
that the proposed method consistently outperforms existing state-of-the-art
methods. Error rates achieved by our method (0.003% on PolyU and 0.2% on CASIA)
are the lowest reported in literature on both dataset and clearly indicate the
viability of palmprint as a reliable and promising biometric. All source codes
are publicly available.Comment: Preliminary version of this manuscript was published in ICCV 2011. Z.
Khan A. Mian and Y. Hu, "Contour Code: Robust and Efficient Multispectral
Palmprint Encoding for Human Recognition", International Conference on
Computer Vision, 2011. MATLAB Code available:
https://sites.google.com/site/zohaibnet/Home/code
Mixed marker-based/marker-less visual odometry system for mobile robots
When moving in generic indoor environments, robotic platforms generally rely solely on information provided by onboard sensors to determine their position and orientation. However, the lack of absolute references often leads to the introduction of severe drifts in estimates computed, making autonomous operations really hard to accomplish. This paper proposes a solution to alleviate the impact of the above issues by combining two vision‐based pose estimation techniques working on relative and absolute coordinate systems, respectively. In particular, the unknown ground features in the images that are captured by the vertical camera of a mobile platform are processed by a vision‐based odometry algorithm, which is capable of estimating the relative frame‐to‐frame movements. Then, errors accumulated in the above step are corrected using artificial markers displaced at known positions in the environment. The markers are framed from time to time, which allows the robot to maintain the drifts bounded by additionally providing it with the navigation commands needed for autonomous flight. Accuracy and robustness of the designed technique are demonstrated using an off‐the‐shelf quadrotor via extensive experimental test
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