94,282 research outputs found
A Reverse Hierarchy Model for Predicting Eye Fixations
A number of psychological and physiological evidences suggest that early
visual attention works in a coarse-to-fine way, which lays a basis for the
reverse hierarchy theory (RHT). This theory states that attention propagates
from the top level of the visual hierarchy that processes gist and abstract
information of input, to the bottom level that processes local details.
Inspired by the theory, we develop a computational model for saliency detection
in images. First, the original image is downsampled to different scales to
constitute a pyramid. Then, saliency on each layer is obtained by image
super-resolution reconstruction from the layer above, which is defined as
unpredictability from this coarse-to-fine reconstruction. Finally, saliency on
each layer of the pyramid is fused into stochastic fixations through a
probabilistic model, where attention initiates from the top layer and
propagates downward through the pyramid. Extensive experiments on two standard
eye-tracking datasets show that the proposed method can achieve competitive
results with state-of-the-art models.Comment: CVPR 2014, 27th IEEE Conference on Computer Vision and Pattern
Recognition (CVPR). CVPR 201
Integration of Absolute Orientation Measurements in the KinectFusion Reconstruction pipeline
In this paper, we show how absolute orientation measurements provided by
low-cost but high-fidelity IMU sensors can be integrated into the KinectFusion
pipeline. We show that integration improves both runtime, robustness and
quality of the 3D reconstruction. In particular, we use this orientation data
to seed and regularize the ICP registration technique. We also present a
technique to filter the pairs of 3D matched points based on the distribution of
their distances. This filter is implemented efficiently on the GPU. Estimating
the distribution of the distances helps control the number of iterations
necessary for the convergence of the ICP algorithm. Finally, we show
experimental results that highlight improvements in robustness, a speed-up of
almost 12%, and a gain in tracking quality of 53% for the ATE metric on the
Freiburg benchmark.Comment: CVPR Workshop on Visual Odometry and Computer Vision Applications
Based on Location Clues 201
Visual 3-D SLAM from UAVs
The aim of the paper is to present, test and discuss the implementation of Visual SLAM techniques to images taken from Unmanned Aerial Vehicles (UAVs) outdoors, in partially structured environments. Every issue of the whole process is discussed in order to obtain more accurate localization and mapping from UAVs flights. Firstly, the issues related to the visual features of objects in the scene, their distance to the UAV, and the related image acquisition system and their calibration are evaluated for improving the whole process. Other important, considered issues are related to the image processing techniques, such as interest point detection, the matching procedure and the scaling factor. The whole system has been tested using the COLIBRI mini UAV in partially structured environments. The results that have been obtained for localization, tested against the GPS information of the flights, show that Visual SLAM delivers reliable localization and mapping that makes it suitable for some outdoors applications when flying UAVs
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