Structure from Motion using the Extended Kalman Filter
Structure from Motion using the Extended Kalman Filter

Author: Javier Civera

Publisher: Springer Science & Business Media

Published: 2011-11-05

Total Pages: 180

ISBN-13: 3642248330

DOWNLOAD EBOOK

The fully automated estimation of the 6 degrees of freedom camera motion and the imaged 3D scenario using as the only input the pictures taken by the camera has been a long term aim in the computer vision community. The associated line of research has been known as Structure from Motion (SfM). An intense research effort during the latest decades has produced spectacular advances; the topic has reached a consistent state of maturity and most of its aspects are well known nowadays. 3D vision has immediate applications in many and diverse fields like robotics, videogames and augmented reality; and technological transfer is starting to be a reality. This book describes one of the first systems for sparse point-based 3D reconstruction and egomotion estimation from an image sequence; able to run in real-time at video frame rate and assuming quite weak prior knowledge about camera calibration, motion or scene. Its chapters unify the current perspectives of the robotics and computer vision communities on the 3D vision topic: As usual in robotics sensing, the explicit estimation and propagation of the uncertainty hold a central role in the sequential video processing and is shown to boost the efficiency and performance of the 3D estimation. On the other hand, some of the most relevant topics discussed in SfM by the computer vision scientists are addressed under this probabilistic filtering scheme; namely projective models, spurious rejection, model selection and self-calibration.

Robot Operating System (ROS)
Robot Operating System (ROS)

Author: Anis Koubaa

Publisher: Springer Nature

Published: 2020-08-21

Total Pages: 397

ISBN-13: 303045956X

DOWNLOAD EBOOK

This book is the fifth volume in the successful book series Robot Operating System: The Complete Reference. The objective of the book is to provide the reader with comprehensive coverage on the Robot Operating System (ROS), which is currently considered to be the primary development framework for robotics applications, and the latest trends and contributing systems. The content is divided into six parts. Pat I presents for the first time the emerging ROS 2.0 framework, while Part II focuses on multi-robot systems, namely on SLAM and Swarm coordination. Part III provides two chapters on autonomous systems, namely self-driving cars and unmanned aerial systems. In turn, Part IV addresses the contributions of simulation frameworks for ROS. In Part V, two chapters explore robotic manipulators and legged robots. Finally, Part VI presents emerging topics in monocular SLAM and a chapter on fault tolerance systems for ROS. Given its scope, the book will offer a valuable companion for ROS users and developers, helping them deepen their knowledge of ROS capabilities and features.

Dynamical Vision
Dynamical Vision

Author: Rene Vidal

Publisher: Springer Science & Business Media

Published: 2007-02

Total Pages: 337

ISBN-13: 3540709312

DOWNLOAD EBOOK

This book constitutes the thoroughly refereed joint post-proceedings of the first two International Workshops on Dynamical Vision, WDV 2005 and WDV 2006 held in Beijing, China in October 2005 within the scope of ICCV 2005 and in Graz, Austria in May 2006 in the course of ECCV 2006. The 24 revised full papers address a wide range of theoretical and application issues in dynamical vision.

Nonlinear Control Systems Design 1995
Nonlinear Control Systems Design 1995

Author: A.J. Krener

Publisher: Elsevier

Published: 2016-01-22

Total Pages: 449

ISBN-13: 1483296873

DOWNLOAD EBOOK

The series of IFAC Symposia on Nonlinear Control Systems provides the ideal forum for leading researchers and practitioners who work in the field to discuss and evaluate the latest research and developments. This publication contains the papers presented at the 3rd IFAC Symposium in the series which was held in Tahoe City, California, USA.

Visual Servoing via Advanced Numerical Methods
Visual Servoing via Advanced Numerical Methods

Author: Graziano Chesi

Publisher: Springer

Published: 2010-03-10

Total Pages: 410

ISBN-13: 1849960895

DOWNLOAD EBOOK

Robots able to imitate human beings have been at the core of stories of science?ctionaswellasdreamsofinventorsforalongtime.Amongthe various skills that Mother Nature has provided us with and that often go forgotten, the ability of sight is certainly one of the most important. Perhaps inspired by tales of Isaac Asimov, comics and cartoons, and surely helped by the progress of electronics in recent decades, researchers have progressively made the dream of creating robots able to move and operate by exploiting arti?cial vision a concrete reality. Technically speaking, we would say that these robots position themselves and their end-e?ectors by using the view provided by some arti?cial eyes as feedback information. Indeed, the arti?cial eyes are visual sensors such as cameras that have the function to acquire an image of the environment. Such an image describes if and how the robot is moving toward the goal and hence constitutes feedback information. This procedure is known in robotics with the term visual servoing, and it is nothing else than an imitation of the intrinsic mechanism that allows human beings to realize daily tasks such as reaching the door of the house or grasping a cup of co?ee.

Recognition of Humans and Their Activities Using Video
Recognition of Humans and Their Activities Using Video

Author: Rama Chellappa

Publisher: Morgan & Claypool Publishers

Published: 2006-01-01

Total Pages: 179

ISBN-13: 159829007X

DOWNLOAD EBOOK

The recognition of humans and their activities from video sequences is currently a very active area of research because of its applications in video surveillance, design of realistic entertainment systems, multimedia communications, and medical diagnosis. In this lecture, we discuss the use of face and gait signatures for human identification and recognition of human activities from video sequences. We survey existing work and describe some of the more well-known methods in these areas. We also describe our own research and outline future possibilities. In the area of face recognition, we start with the traditional methods for image-based analysis and then describe some of the more recent developments related to the use of video sequences, 3D models, and techniques for representing variations of illumination. We note that the main challenge facing researchers in this area is the development of recognition strategies that are robust to changes due to pose, illumination, disguise, and aging. Gait recognition is a more recent area of research in video understanding, although it has been studied for a long time in psychophysics and kinesiology. The goal for video scientists working in this area is to automatically extract the parameters for representation of human gait. We describe some of the techniques that have been developed for this purpose, most of which are appearance based. We also highlight the challenges involved in dealing with changes in viewpoint and propose methods based on image synthesis, visual hull, and 3D models. In the domain of human activity recognition, we present an extensive survey of various methods that have been developed in different disciplines like artificial intelligence, image processing, pattern recognition, and computer vision. We then outline our method for modeling complex activities using 2D and 3D deformable shape theory. The wide application of automatic human identification and activity recognition methods will require the fusion of different modalities like face and gait, dealing with the problems of pose and illumination variations, and accurate computation of 3D models. The last chapter of this lecture deals with these areas of future research.

Handbook of Face Recognition
Handbook of Face Recognition

Author: Stan Z. Li

Publisher: Springer Science & Business Media

Published: 2005-12-06

Total Pages: 394

ISBN-13: 0387272577

DOWNLOAD EBOOK

Although the history of computer-aided face recognition stretches back to the 1960s, automatic face recognition remains an unsolved problem and still offers a great challenge to computer-vision and pattern recognition researchers. This handbook is a comprehensive account of face recognition research and technology, written by a group of leading international researchers. Twelve chapters cover all the sub-areas and major components for designing operational face recognition systems. Background, modern techniques, recent results, and challenges and future directions are considered. The book is aimed at practitioners and professionals planning to work in face recognition or wanting to become familiar with the state-of- the-art technology. A comprehensive handbook, by leading research authorities, on the concepts, methods, and algorithms for automated face detection and recognition. Essential reference resource for researchers and professionals in biometric security, computer vision, and video image analysis.

Computer Analysis of Images and Patterns
Computer Analysis of Images and Patterns

Author: Gerald Sommer

Publisher: Springer Science & Business Media

Published: 1997-08-27

Total Pages: 760

ISBN-13: 9783540634607

DOWNLOAD EBOOK

This book constitutes the refereed proceedings of the 7th International Conference on Computer Analysis of Images and Patterns, CAIP '97, held in Kiel, Germany, in September 1997. The volume presents 92 revised papers selected during a double-blind reviewing process from a total of 150 high-quality submissions. The papers are organized in topical sections on pattern analysis, object recognition and tracking, invariants, applications, shape, texture analysis, motion calibration, low-level processing, structure from motion, stereo and correspondence, segmentation and grouping, mathematical morphology, pose estimation, and face analysis.