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Computation Of Ego Motion And Structure From Visual And Inertial Sensors Using The Vertical Cue Perception
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Book Synopsis Computation of Ego-motion and Structure from Visual and Inertial Sensors Using the Vertical Cue Perception by : Paul Emmanuel Dos Santos Facao
Download or read book Computation of Ego-motion and Structure from Visual and Inertial Sensors Using the Vertical Cue Perception written by Paul Emmanuel Dos Santos Facao and published by . This book was released on 1993 with total page 82 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Proceedings by : IEEE Computer Society. Technical Committee on Pattern Analysis and Machine Intelligence
Download or read book Proceedings written by IEEE Computer Society. Technical Committee on Pattern Analysis and Machine Intelligence and published by . This book was released on 1993 with total page 742 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Proceedings ... International Conference on Computer Vision by :
Download or read book Proceedings ... International Conference on Computer Vision written by and published by . This book was released on 1993 with total page 768 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Report written by and published by . This book was released on 1993 with total page 412 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis A Few Steps Towards 3D Active Vision by : Thierry Vieville
Download or read book A Few Steps Towards 3D Active Vision written by Thierry Vieville and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 251 pages. Available in PDF, EPUB and Kindle. Book excerpt: T. Viéville: A Few Steps Towards 3D Active Vision appears as Vol. 33 in the Springer Series in Information Sciences. A specific problem in the field of active vision is analyzed, namely how suitable is it to explicitly use 3D visual cues in a reactive visual task? The author has collected a set of studies on this subject and has used these experimental and theoretical developments to propose a synthetic view on the problem, completed by some specific experiments. With this book scientists and graduate students will have a complete set of methods, algorithms, and experiments to introduce 3D visual cues in active visual perception mechanisms, e.g. autocalibration of visual sensors on robotic heads and mobile robots. Analogies with biological visual systems provide an easy introduction to this subject.
Book Synopsis IROS '93, Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems by :
Download or read book IROS '93, Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems written by and published by Institute of Electrical & Electronics Engineers(IEEE). This book was released on 1993 with total page 750 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Inertial-aided Visual Perception of Geometry and Semantics by : Xiaohan Fei
Download or read book Inertial-aided Visual Perception of Geometry and Semantics written by Xiaohan Fei and published by . This book was released on 2019 with total page 161 pages. Available in PDF, EPUB and Kindle. Book excerpt: We describe components of a visual perception system to understand the geometry and semantics of the three-dimensional scene by utilizing monocular cameras and inertial measurement units (IMUs). The use of the two sensor modalities is motivated by the wide availability of the camera-IMU sensor packages present in mobile devices from phones to cars, and their complementary sensing capabilities: IMUs can track the motion of the sensor platform over a short period of time accurately, and provide a scaled and gravity-aligned global reference frame, while cameras can capture rich photometric signatures of the scene, and provide relative motion constraints between images up to scale. We first show that visual 3D reconstruction can be improved by leveraging the global orientation frame -- easily inferred from inertials. In the gravity-aligned global orientation frame, a shape prior can be imposed in depth prediction from a single image, where the normal vectors to surfaces of objects of certain classes tend to align with gravity or orthogonal to it. Adding such a prior to baseline methods for monocular depth prediction yields improvements beyond the state-of-the-art and illustrates the power of utilizing inertials in 3D reconstruction. The global reference provided by inertials is not only gravity-aligned but also scaled, which is exploited in depth completion: We describe a method to infer dense metric depth from camera motion and sparse depth as estimated using a visual-inertial odometry system. Unlike other scenarios using point clouds from lidar or structured light sensors, we have few hundreds to few thousand points, insufficient to inform the topology of the scene. Our method first constructs a piecewise planar scaffolding of the scene, and then uses it to infer dense depth using the image along with the sparse points. We use a predictive cross-modal criterion, akin to "self-supervision," measuring photometric consistency across time, forward-backward pose consistency, and geometric compatibility with the sparse point cloud. We also launch the first visual-inertial + depth dataset (dubbed ``VOID''), which we hope will foster additional exploration into combining the complementary strengths of visual and inertial sensors. To compare our method to prior work, we adopt the unsupervised KITTI depth completion benchmark, and show state-of-the-art performance on it. In addition to dense geometry, the camera-IMU sensor package can also be used to recover the semantics of the scene. We present two methods to augment a point cloud map with class-labeled objects represented in the form of either scaled and oriented bounding boxes or CAD models. The tradeoff of the two shape representation resides in their generality and capability to model detailed structures. While being more generic, 3D bounding boxes fail to model the details of the objects, whereas CAD models preserve the finest shape details but require more computation and are limited to previously seen objects. Nevertheless, both methods populate an unknown environment with 3D objects placed in a Euclidean reference frame inferred causally and on-line using monocular video along with inertial sensors. Besides, both methods include bottom-up and top-down components, whereby deep networks trained for detection provide likelihood scores for object hypotheses provided by a nonlinear filter, whose state serves as memory. We test our methods on KITTI and SceneNN datasets, and also introduce the VISMA dataset, which contains ground truth pose, point-cloud map, and object models, along with time-stamped inertial measurements. To reduce the drift of the visual-inertial SLAM system -- a building block of all the visual perception systems we have built, we introduce an efficient loop closure detection approach based on the idea of hierarchical pooling of image descriptors. We also open-sourced a full-fledged SLAM system equipped with mapping and loop closure capabilities. The code is publicly available at https://github.com/ucla-vision/xivo.
Author :IEEE Control Systems Society Publisher :Institute of Electrical & Electronics Engineers(IEEE) ISBN 13 : Total Pages :644 pages Book Rating :4.3/5 (91 download)
Book Synopsis Proceedings of the 1992 IEEE International Symposium on Intelligent Control by : IEEE Control Systems Society
Download or read book Proceedings of the 1992 IEEE International Symposium on Intelligent Control written by IEEE Control Systems Society and published by Institute of Electrical & Electronics Engineers(IEEE). This book was released on 1992 with total page 644 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Ego-motion Estimation Based on RGB-D Camera and Inertial Sensor by :
Download or read book Ego-motion Estimation Based on RGB-D Camera and Inertial Sensor written by and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Visual Psychophysics of Egomotion by : Kathleen Turano
Download or read book Visual Psychophysics of Egomotion written by Kathleen Turano and published by . This book was released on 1994 with total page 10 pages. Available in PDF, EPUB and Kindle. Book excerpt: Human observers' ability to perceive self motion using information contained within optic-flow patterns was investigated. Subjects discriminated changes in heading direction as stimulus parameters were manipulated. Some of the results were surprising and difficult to explain in the context of current theories. In order to better understand the results, the role of eye movements in self-motion detection and in speed discrimination was investigated. The end product is a model that can account for the findings. The optimal stimulus for motion detection was also explored to define the shape (x, y, t) of the human motion sensors, which are believed to be involved in the early processing stages of self-motion perception. A computational model for the extraction of 3D motion information from 2D motion information was also developed. The neural network model was able to qualitatively account for the human observer's ability to detect changes in heading direction. Egomotion, Motion perception, Curvilinear motion, Self motion perception, Eccentricity, Eye movements.
Book Synopsis Visual Psychophysics of Egomotion by : Kathleen Turano
Download or read book Visual Psychophysics of Egomotion written by Kathleen Turano and published by . This book was released on 1994 with total page 10 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Visual Perception and Action in Sport by : A. Mark Williams
Download or read book Visual Perception and Action in Sport written by A. Mark Williams and published by Taylor & Francis. This book was released on 1999 with total page 468 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a detailed review of much of the existing research on visual perception and sports performance. It summarises and integrates the findings of up to five hundred articles from areas as diverse as cognitive and ecological psychology.
Book Synopsis Introduction to Autonomous Mobile Robots, second edition by : Roland Siegwart
Download or read book Introduction to Autonomous Mobile Robots, second edition written by Roland Siegwart and published by MIT Press. This book was released on 2011-02-18 with total page 473 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.
Author :Luis Rodolfo García Carrillo Publisher :Springer Science & Business Media ISBN 13 :144714399X Total Pages :191 pages Book Rating :4.4/5 (471 download)
Book Synopsis Quad Rotorcraft Control by : Luis Rodolfo García Carrillo
Download or read book Quad Rotorcraft Control written by Luis Rodolfo García Carrillo and published by Springer Science & Business Media. This book was released on 2012-08-12 with total page 191 pages. Available in PDF, EPUB and Kindle. Book excerpt: Quad Rotorcraft Control develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter. These methods use an imaging system and a combination of inertial and altitude sensors to localize and guide the movement of the unmanned aerial vehicle relative to its immediate environment. The history, classification and applications of UAVs are introduced, followed by a description of modelling techniques for quad-rotors and the experimental platform itself. A control strategy for the improvement of attitude stabilization in quad-rotors is then proposed and tested in real-time experiments. The strategy, based on the use low-cost components and with experimentally-established robustness, avoids drift in the UAV’s angular position by the addition of an internal control loop to each electronic speed controller ensuring that, during hovering flight, all four motors turn at almost the same speed. The quad-rotor’s Euler angles being very close to the origin, other sensors like GPS or image-sensing equipment can be incorporated to perform autonomous positioning or trajectory-tracking tasks. Two vision-based strategies, each designed to deal with a specific kind of mission, are introduced and separately tested. The first stabilizes the quad-rotor over a landing pad on the ground; it extracts the 3-dimensional position using homography estimation and derives translational velocity by optical flow calculation. The second combines colour-extraction and line-detection algorithms to control the quad-rotor’s 3-dimensional position and achieves forward velocity regulation during a road-following task. In order to estimate the translational-dynamical characteristics of the quad-rotor (relative position and translational velocity) as they evolve within a building or other unstructured, GPS-deprived environment, imaging, inertial and altitude sensors are combined in a state observer. The text give the reader a current view of the problems encountered in UAV control, specifically those relating to quad-rotor flying machines and it will interest researchers and graduate students working in that field. The vision-based control strategies presented help the reader to a better understanding of how an imaging system can be used to obtain the information required for performance of the hovering and navigation tasks ubiquitous in rotored UAV operation.
Download or read book Indirect Perception written by Irvin Rock and published by MIT Press. This book was released on 1997 with total page 434 pages. Available in PDF, EPUB and Kindle. Book excerpt: This posthumous volume, the culmination of a long and distinguished career, brings together an original essay by the author together with a careful selection of previously published articles (most by Rock) on the theory that perception is an indirect process in which visual experience is derived by inference, rather than being directly and independently determined by retinal stimulation.
Book Synopsis Multiple View Geometry in Computer Vision by : Richard Hartley
Download or read book Multiple View Geometry in Computer Vision written by Richard Hartley and published by Cambridge University Press. This book was released on 2004-03-25 with total page 676 pages. Available in PDF, EPUB and Kindle. Book excerpt: A basic problem in computer vision is to understand the structure of a real world scene given several images of it. Techniques for solving this problem are taken from projective geometry and photogrammetry. Here, the authors cover the geometric principles and their algebraic representation in terms of camera projection matrices, the fundamental matrix and the trifocal tensor. The theory and methods of computation of these entities are discussed with real examples, as is their use in the reconstruction of scenes from multiple images. The new edition features an extended introduction covering the key ideas in the book (which itself has been updated with additional examples and appendices) and significant new results which have appeared since the first edition. Comprehensive background material is provided, so readers familiar with linear algebra and basic numerical methods can understand the projective geometry and estimation algorithms presented, and implement the algorithms directly from the book.
Book Synopsis State Estimation for Robotics by : Timothy D. Barfoot
Download or read book State Estimation for Robotics written by Timothy D. Barfoot and published by Cambridge University Press. This book was released on 2017-07-31 with total page 381 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern look at state estimation, targeted at students and practitioners of robotics, with emphasis on three-dimensional applications.