INTRODUCTORY TECHNIQUES FOR 3D COMPUTER VISION TRUCCO PDF

Hager, Myron Z. Brown, Darius Burschka, Gregory D. Abstract—Extraction of three-dimensional structure of a scene from stereo images is a problem that has been studied by the computer vision community for decades. Early work focused on the fundamentals of image correspondence and stereo geometry.

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Hager, Myron Z. Brown, Darius Burschka, Gregory D. Abstract—Extraction of three-dimensional structure of a scene from stereo images is a problem that has been studied by the computer vision community for decades. Early work focused on the fundamentals of image correspondence and stereo geometry.

Stereo research has matured significantly throughout t Stereo research has matured significantly throughout the years and many advances in computational stereo continue to be made, allowing stereo to be applied to new and more demanding problems. In this paper, we review recent advances in computational stereo, focusing primarily on three important topics: correspondence methods, methods for occlusion, and real-time implementations.

Throughout, we present tables that summarize and draw distinctions among key ideas and approaches. Where available, we provide comparative analyses and we make suggestions for analyses yet to be done. Index Terms—Computational stereo, stereo correspondence, occlusion, real-time stereo, review. All of the GPUs are difficult to program for general-purpose uses. Programmers can either learn graphics APIs and convert their applications to use graphics pipeline operations or they can use stream programming abstractions of GPUs.

We describe Accelerator, a system that uses data parallelism to program GPUs We describe Accelerator, a system that uses data parallelism to program GPUs for general-purpose uses instead. Programmers use a conventional imperative programming language and a library that provides only high-level data-parallel operations.

No aspects of GPUs are exposed to programmers. The library implementation compiles the data-parallel operations on the fly to optimized GPU pixel shader code and API calls. We describe the compilation techniques used to do this. We evaluate the effectiveness of using data parallelism to program GPUs by providing results for a set of compute-intensive benchmarks. We compare the performance of Accelerator versions of the benchmarks against hand-written pixel shaders.

Show Context Citation Context The computation has these steps: 1. Compute C, the Hessian of the image, at each point. These systems are useful because they may have a field of view which is greater than hemispherical, providing the ability to simultaneously view in any direction. Configurations which have a unique Configurations which have a unique effective viewpoint are of primary interest, among these is the case where the reflective surface is a parabolic mirror and the camera is such that it induces an orthographic projection and which we call paracatadiotpric.

We present an algorithm for the calibration of such a device using only the images of lines in space. In fact, we show that we may obtain all of the intrinsic parameters from the images of only three lines and that this is possible without any metric information. We propose a closed-form solution for focal length, image center, and aspect ratio for skewless cameras and a polynomial root solution in the presence of skew. We also give a method for determining the orientation of a plane containing two sets of parallel lines from one uncalibrated view.

Such an orientation recovery enables a rectification which is impossible to achieve in the case of a single uncalibrated view taken by a conventional camera. Seitz , " Using this representation we Using this representation we can f re-render the object under novel lighting. This paper describes a photometric stereo method designed for surfaces with spatially-varying BRDFs, including sur-faces with both varying diffuse and specular properties.

Our method builds on the observation that most objects are composed of a small number of fundamental materials. This approach recovers not only the shape but also material BRDFs and weight maps, yielding compelling results for a wide variety of objects.

We also show examples of interac-tive lighting and editing operations made possible by our method. This amounts to integrating the normal field. The minimization gives rise to a large but sparse system of linear equations which we solve using the conjugate gradient method [17]. The normals are th Most work in action recognition deals with sequences acquired by stationary cameras with fixed viewpoints. Due to the camera motion, the trajectories of the body parts contain not only the motion of the performing actor but also the motion of the camera.

In addition to the camera motion, different v In addition to the camera motion, different viewpoints of the same action in different environments result in different trajectories, which can not be matched using standard approaches.

In order to handle these problems, we propose to use the multi-view geometry between two actions. However, well known epipolar geometry of the static scenes where the cameras are stationary is not suitable for our task. Thus, we propose to extend the standard epipolar geometry to the geometry of dynamic scenes where the cameras are moving. We demonstrate the versatility of the proposed geometric approach for recognition of actions in a number of challenging sequences.

P denotes a 3D point Dockstader, A. We propose a distributed, real-time computing platform for tracking multiple interacting persons in motion. To combat the negative effects of occlusion and articulated motion we use a multi-view implementation, where each view is first independently processed on a dedicated processor.

This monocular This monocular processing uses a predictor-corrector filter to weigh re-projections of 3-D position estimates, obtained by the central processor, against observations of measurable image motion. The corrected state vectors from each view provide input observations to a Bayesian belief network, in the central processor, with a dynamic, multidimensional topology that varies as a function of scene content and feature confidence.

The Bayesian net fuses independent observations from multiple cameras by iteratively resolving independency relationships and confidence levels within the graph, thereby producing the most likely vector of 3-D state estimates given the available data. To maintain temporal continuity we follow the network with a layer of Kalman filtering that updates the 3-D state estimates. We demonstrate the efficacy of the proposed system using a multi-view sequence of several people in motion.

Our experiments suggest that, when compared with data fusion based on averaging, the proposed technique yields a noticeable improvement in tracking accuracy. A similar sampling procedur Mendonca, Andy Hopper , " Sentient Computing provides computers with perception so that they can react and provide assistance to user activities. Physical spaces are made sentient when they are wired with networks of sensors capturing context data, which is communicated to computing devices spread through the environment.

These devices interpret the information provided and react by performing the actions expected by the user. Among the types of context information provided by sensors, location has proven to be especially useful. Since location is an important context that changes whenever the user moves, a reliable location-tracking system is critical to many sentient applications.

However, the sensor technologies used in indoor location tracking are expensive and complex to deploy, configure and maintain. These factors have prevented a wider adoption of Sentient Computing in our living and working spaces. This paper presents TRIP, a low-cost and easily deployable vision-based sensor technology addressing these issues. The usability of TRIP is illustrated through the implementation of several sentient applications. We present a method that takes a raster image as input and produces a painting-like image composed of strokes rather than pixels.

Our method works by first segmenting the image into features, finding the approximate medial axes of these features, and using the medial axes to guide brush stroke creat Our method works by first segmenting the image into features, finding the approximate medial axes of these features, and using the medial axes to guide brush stroke creation.

System parameters may be interactively manipulated by a user to effect image segmentation, brush stroke characteristics, stroke size, and stroke frequency. This process creates images reminiscent of those contemporary representational painters whose work has an abstract or sketchy quality.

Any of these techniques will work for our system. Synthetic images have an advantage in that they are easy t Detecting and modeling doors with mobile robots by Dragomir Anguelov - In Proc. Abstract — We describe a probabilistic framework for detection and modeling of doors from sensor data acquired in corridor environments with mobile robots.

The framework captures shape, color, and motion properties of door and wall objects. The probabilistic model is optimized with a version of the The probabilistic model is optimized with a version of the expectation maximization algorithm, which segments the environment into door and wall objects and learns their properties.

The framework allows the robot to generalize the properties of detected object instances to new object instances. We demonstrate the algorithm on real-world data acquired by a Pioneer robot equipped with a laser range finder and an omni-directional camera.

Our results show that our algorithm reliably segments the environment into walls and doors, finding both doors that move and doors that do not move. We show that our approach achieves better results than models that only capture behavior, or only capture appearance.

This transform is analyzed for dominating line orientations in the environment, to recover an approximate prior over wall orientation assuming that those are not uniformly distributed for most envi Powered by:.

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