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Epipolar Constrained Multi Camera Arrays For Embedded 3d Vision
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Book Synopsis Epipolar Constrained Multi-camera Arrays for Embedded 3D Vision by : Dominique Ernest Meyer
Download or read book Epipolar Constrained Multi-camera Arrays for Embedded 3D Vision written by Dominique Ernest Meyer and published by . This book was released on 2021 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt: High-resolution and real-time 3D sensing from cameras is a long standing challenge in the robotics and computer vision community. This thesis proposes a system wide optimization strategy for embedded vision systems by providing a software-hardware design strategy that jointly improves multi-camera arrays and reconstruction algorithms for improved 3D localization and sensing. The proposed approach builds on state of the art research efforts of multi-camera systems and multi-view methods to simultaneously estimate system pose and 3D scene. Existing works are reviewed and summarized to provide a theoretical baseline of the field. To improve the robustness and efficiency of the estimation, geometric and epipolar principles of cameras are leveraged to formulate configuration decisions, on which the proposed algorithmic methods are based. These configuration implications are leveraged to formulate highly parallelizable and scalable reconstruction methods. The first goal of the estimation methods involves sparse 3D solutions for localization and map initialization that in turn serves as a prior for the dense reconstruction. A set of semi-dense and dense reconstructions algorithms are introduced that leverage the sensory configuration and ego-motion estimation to improve on state of the art stereo and partial light-field depth estimation methods, both in terms of estimation performance, and computational efficiency. Real-world evaluation of the proposed system design is accomplished through the development of an open-source multi-camera sensing system, DevCAM. A heterogeneous FPGA, DSP, CPU and GPU architecture is used as the basis for an experimentation ground that accommodates 18 high resolution cameras in a trinocular panoramic configuration, an Inertial Nagivation System with differential GPS and high-performance networking capabilities. On this system, hardware optimized pre-processing is demonstrated, alongside early results for semi-dense 3D mapping.
Book Synopsis Epipolar Geometry in Stereo, Motion and Object Recognition by : Gang Xu
Download or read book Epipolar Geometry in Stereo, Motion and Object Recognition written by Gang Xu and published by Springer Science & Business Media. This book was released on 2013-03-09 with total page 327 pages. Available in PDF, EPUB and Kindle. Book excerpt: Appendix 164 3. A 3. A. 1 Approximate Estimation of Fundamental Matrix from General Matrix 164 3. A. 2 Estimation of Affine Transformation 165 4 RECOVERY OF EPIPOLAR GEOMETRY FROM LINE SEGMENTS OR LINES 167 Line Segments or Straight Lines 168 4. 1 4. 2 Solving Motion Using Line Segments Between Two Views 173 4. 2. 1 Overlap of Two Corresponding Line Segments 173 Estimating Motion by Maximizing Overlap 175 4. 2. 2 Implementation Details 4. 2. 3 176 Reconstructing 3D Line Segments 4. 2. 4 179 4. 2. 5 Experimental Results 180 4. 2. 6 Discussions 192 4. 3 Determining Epipolar Geometry of Three Views 194 4. 3. 1 Trifocal Constraints for Point Matches 194 4. 3. 2 Trifocal Constraints for Line Correspondences 199 4. 3. 3 Linear Estimation of K, L, and M Using Points and Lines 200 4. 3. 4 Determining Camera Projection Matrices 201 4. 3. 5 Image Transfer 203 4. 4 Summary 204 5 REDEFINING STEREO, MOTION AND OBJECT RECOGNITION VIA EPIPOLAR GEOMETRY 205 5. 1 Conventional Approaches to Stereo, Motion and Object Recognition 205 5. 1. 1 Stereo 205 5. 1. 2 Motion 206 5. 1. 3 Object Recognition 207 5. 2 Correspondence in Stereo, Motion and Object Recognition as 1D Search 209 5. 2. 1 Stereo Matching 209 xi Contents 5. 2. 2 Motion Correspondence and Segmentation 209 5. 2. 3 3D Object Recognition and Localization 210 Disparity and Spatial Disparity Space 210 5.
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 Camera Models and Fundamental Concepts Used in Geometric Computer Vision by : Peter Sturm
Download or read book Camera Models and Fundamental Concepts Used in Geometric Computer Vision written by Peter Sturm and published by Now Publishers Inc. This book was released on 2011 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: Camera Models and Fundamental Concepts Used in Geometric Computer Vision surveys the image acquisition methods used in computer vision and especially, of the vast number of camera models that have been proposed and investigated over the years, and points out similarities between different models.
Book Synopsis Computer Vision – ECCV 2016 by : Bastian Leibe
Download or read book Computer Vision – ECCV 2016 written by Bastian Leibe and published by Springer. This book was released on 2016-09-16 with total page 910 pages. Available in PDF, EPUB and Kindle. Book excerpt: The eight-volume set comprising LNCS volumes 9905-9912 constitutes the refereed proceedings of the 14th European Conference on Computer Vision, ECCV 2016, held in Amsterdam, The Netherlands, in October 2016. The 415 revised papers presented were carefully reviewed and selected from 1480 submissions. The papers cover all aspects of computer vision and pattern recognition such as 3D computer vision; computational photography, sensing and display; face and gesture; low-level vision and image processing; motion and tracking; optimization methods; physics-based vision, photometry and shape-from-X; recognition: detection, categorization, indexing, matching; segmentation, grouping and shape representation; statistical methods and learning; video: events, activities and surveillance; applications. They are organized in topical sections on detection, recognition and retrieval; scene understanding; optimization; image and video processing; learning; action, activity and tracking; 3D; and 9 poster sessions.
Book Synopsis Motion Deblurring by : A. N. Rajagopalan
Download or read book Motion Deblurring written by A. N. Rajagopalan and published by Cambridge University Press. This book was released on 2014-05-08 with total page 309 pages. Available in PDF, EPUB and Kindle. Book excerpt: Comprehensive guide to the restoration of images degraded by motion blur, encompassing algorithms and architectures, with novel computational photography methods.
Book Synopsis Vision Algorithms: Theory and Practice by : Bill Triggs
Download or read book Vision Algorithms: Theory and Practice written by Bill Triggs and published by Springer Science & Business Media. This book was released on 2000-09-06 with total page 394 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the thoroughly refereed post-workshop proceedings of the International Workshop on Vision Algorithms held in Corfu, Greece in September 1999 in conjunction with ICCV'99. The 15 revised full papers presented were carefully reviewed and selected from 65 submissions; each paper is complemented by a brief transcription of the discussion that followed its presentation. Also included are two invited contributions and two expert reviews as well as a panel discussion. The volume spans the whole range of algorithms for geometric vision. The authors and volume editors succeeded in providing added value beyond a mere collection of papers and made the volume a state-of-the-art survey of their field.
Book Synopsis Computer Vision Metrics by : Scott Krig
Download or read book Computer Vision Metrics written by Scott Krig and published by Apress. This book was released on 2014-06-14 with total page 498 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer Vision Metrics provides an extensive survey and analysis of over 100 current and historical feature description and machine vision methods, with a detailed taxonomy for local, regional and global features. This book provides necessary background to develop intuition about why interest point detectors and feature descriptors actually work, how they are designed, with observations about tuning the methods for achieving robustness and invariance targets for specific applications. The survey is broader than it is deep, with over 540 references provided to dig deeper. The taxonomy includes search methods, spectra components, descriptor representation, shape, distance functions, accuracy, efficiency, robustness and invariance attributes, and more. Rather than providing ‘how-to’ source code examples and shortcuts, this book provides a counterpoint discussion to the many fine opencv community source code resources available for hands-on practitioners.
Book Synopsis Generalized Principal Component Analysis by : René Vidal
Download or read book Generalized Principal Component Analysis written by René Vidal and published by Springer. This book was released on 2016-04-11 with total page 590 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive introduction to the latest advances in the mathematical theory and computational tools for modeling high-dimensional data drawn from one or multiple low-dimensional subspaces (or manifolds) and potentially corrupted by noise, gross errors, or outliers. This challenging task requires the development of new algebraic, geometric, statistical, and computational methods for efficient and robust estimation and segmentation of one or multiple subspaces. The book also presents interesting real-world applications of these new methods in image processing, image and video segmentation, face recognition and clustering, and hybrid system identification etc. This book is intended to serve as a textbook for graduate students and beginning researchers in data science, machine learning, computer vision, image and signal processing, and systems theory. It contains ample illustrations, examples, and exercises and is made largely self-contained with three Appendices which survey basic concepts and principles from statistics, optimization, and algebraic-geometry used in this book. René Vidal is a Professor of Biomedical Engineering and Director of the Vision Dynamics and Learning Lab at The Johns Hopkins University. Yi Ma is Executive Dean and Professor at the School of Information Science and Technology at ShanghaiTech University. S. Shankar Sastry is Dean of the College of Engineering, Professor of Electrical Engineering and Computer Science and Professor of Bioengineering at the University of California, Berkeley.
Book Synopsis An Introduction to 3D Computer Vision Techniques and Algorithms by : Boguslaw Cyganek
Download or read book An Introduction to 3D Computer Vision Techniques and Algorithms written by Boguslaw Cyganek and published by John Wiley & Sons. This book was released on 2011-08-10 with total page 485 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer vision encompasses the construction of integrated vision systems and the application of vision to problems of real-world importance. The process of creating 3D models is still rather difficult, requiring mechanical measurement of the camera positions or manual alignment of partial 3D views of a scene. However using algorithms, it is possible to take a collection of stereo-pair images of a scene and then automatically produce a photo-realistic, geometrically accurate digital 3D model. This book provides a comprehensive introduction to the methods, theories and algorithms of 3D computer vision. Almost every theoretical issue is underpinned with practical implementation or a working algorithm using pseudo-code and complete code written in C++ and MatLab®. There is the additional clarification of an accompanying website with downloadable software, case studies and exercises. Organised in three parts, Cyganek and Siebert give a brief history of vision research, and subsequently: present basic low-level image processing operations for image matching, including a separate chapter on image matching algorithms; explain scale-space vision, as well as space reconstruction and multiview integration; demonstrate a variety of practical applications for 3D surface imaging and analysis; provide concise appendices on topics such as the basics of projective geometry and tensor calculus for image processing, distortion and noise in images plus image warping procedures. An Introduction to 3D Computer Vision Algorithms and Techniques is a valuable reference for practitioners and programmers working in 3D computer vision, image processing and analysis as well as computer visualisation. It would also be of interest to advanced students and researchers in the fields of engineering, computer science, clinical photography, robotics, graphics and mathematics.
Book Synopsis Stereo vision-based road condition monitoring by : Brunken, Hauke
Download or read book Stereo vision-based road condition monitoring written by Brunken, Hauke and published by Universitätsverlag der TU Berlin. This book was released on 2021-05-12 with total page 188 pages. Available in PDF, EPUB and Kindle. Book excerpt: When planning road construction measures, it is essential to have up-to-date information on road conditions. If this information is not to be obtained manually, it is currently obtained using laser scanners mounted on mobile mapping vehicles, which can measure the 3D road profile. However, a large number of mobile mapping vehicles would be necessary to record an entire road network on a regular basis. Since 2D road damages can be found automatically on monocular camera images, the idea was born to use a stereo camera system to capture the 3D profile of roads. With stereo camera systems, it would be possible to equip a large number of vehicles and regularly collect data from large road networks. In this thesis, the potential applications of a stereo camera system for measuring road profiles, which is mounted behind the windshield of a vehicle, are investigated. Since this requires a calibration of the stereo camera system, but the effort for the user should be kept low, the camera self-calibration for this application is also examined. 3D reconstruction from stereoscopic images is a well-studied topic, but its application on road surfaces with little and repetitive textures requires special algorithms. For this reason, a new stereo method was developed. It is based on the plane-sweep approach in combination with semi-global matching. It was tested with different measures for pixel comparison. Furthermore, the plane-sweep approach was implemented in a neural network that solves the stereo correspondence problem in a single step. It uses the stereoscopic images as input and provides an elevation image as output. A completely new approach was developed for the self-calibration of mono cameras and stereo camera systems. Previous methods search for feature points in several images of the same scene. The points are matched between the images and used for the calibration. In contrast to these methods, the proposed method uses feature maps instead of feature points to compare multiple views of one and the same plane. To estimate the unknown parameters, the backpropagation algorithm is used together with the gradient descent method. The measurements obtained by stereoscopic image processing were compared with those obtained by industrial laser scanners. They show that both measurements are very close to each other and that a stereoscopic camera system is in principle suitable for capturing the surface profile of a road. Experiments show that the proposed self-calibration method is capable of estimating all parameters of a complex camera model, including lens distortion, with high precision. Bei der Planung von Straßenbaumaßnahmen ist es unabdingbar, über aktuelle Informationen über den Straßenzustand zu verfügen. Sollen diese Informationen nicht manuell gewonnen werden, werden derzeit Messfahrzeug mit Laserscannern verwendet, welche das 3D-Straßenprofil vermessen können. Für die regelmäßige Erfassung eines gesamten Straßennetzes wäre jedoch eine große Anzahl von Messfahrzeugen erforderlich. Da 2D-Straßenschäden automatisch auf monokularen Kamerabildern gefunden werden können, entstand die Idee, ein Stereokamerasystem zur Erfassung des 3D-Profils zu verwenden. Eine große Anzahl von Fahrzeugen könnte damit ausgerüstet werden und es könnten regelmäßig Daten von großen Straßennetzen erfasst werden. In dieser Arbeit werden die Einsatzmöglichkeiten eines Stereokamerasystems zur Messung von Straßenprofilen untersucht, dass sich hinter der Windschutzscheibe eines Fahrzeugs befindet. Da hierzu das Stereokamerasystems kalibriert sein muss, der Aufwand für den Anwender aber geringgehalten werden soll, wird außerdem die Selbstkalibrierung für diesen Einsatzzweck untersucht. Die 3D-Rekonstruktion aus stereoskopischen Bildern ist ein viel untersuchtes Thema, aber ihre Anwendung auf Straßenoberflächen mit wenig und sich wiederholenden Texturen erfordert spezielle Algorithmen. Aus diesem Grund wurde ein neues Stereoverfahren entwickelt. Es basiert auf dem Plane-sweep-Ansatz in Kombination mit Semi-global Matching. Es wurde mit verschiedene Maßen für den Vergleich von Pixeln getestet. Darüber hinaus wurde der Plane-sweep-Ansatz in einem neuronalen Netzwerk implementiert, das das Stereo-Korrespondenzproblem in einem einzigen Schritt löst. Es verwendet die stereoskopischen Bilder als Eingabe und liefert als Ausgabe ein Höhenbild. Für die Selbstkalibrierung von Monokameras und Stereokamerasystemen wurde ein völlig neuer Ansatz entwickelt. Bisherige Methoden suchen nach Merkmalspunkten in mehreren Bildern der gleichen Szene. Die Punkte werden zwischen den Bildern zugeordnet und für die Kalibrierung verwendet. Die vorgeschlagene Methode verwendet anstelle von Merkmalspunkten Feature-Maps um mehrere Ansichten derselben Ebene zu vergleichen. Zur Schätzung der unbekannten Parameter wird der Backpropagation-Algorithmus zusammen mit dem Gradientenabstiegsverfahren verwendet. Die durch stereoskopische Bildverarbeitung erhaltenen Messungen wurden mit Messungen von industriellen Laserscannern verglichen. Sie zeigen, dass beide sehr nahe beieinander liegen und dass ein Stereokamerasystem für die Erfassung des Oberflächenprofils einer Straße grundsätzlich geeignet ist. Experimente zeigen, dass die neue Selbstkalibrierungsmethode in der Lage ist, alle Parameter eines komplexen Kameramodells, einschließlich der Linsenverzerrung, mit hoher Präzision abzuschätzen.
Author :William N. Sharpe, Jr. Publisher :Springer Science & Business Media ISBN 13 :0387268839 Total Pages :1100 pages Book Rating :4.3/5 (872 download)
Book Synopsis Springer Handbook of Experimental Solid Mechanics by : William N. Sharpe, Jr.
Download or read book Springer Handbook of Experimental Solid Mechanics written by William N. Sharpe, Jr. and published by Springer Science & Business Media. This book was released on 2008-12-04 with total page 1100 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Springer Handbook of Experimental Solid Mechanics documents both the traditional techniques as well as the new methods for experimental studies of materials, components, and structures. The emergence of new materials and new disciplines, together with the escalating use of on- and off-line computers for rapid data processing and the combined use of experimental and numerical techniques have greatly expanded the capabilities of experimental mechanics. New exciting topics are included on biological materials, MEMS and NEMS, nanoindentation, digital photomechanics, photoacoustic characterization, and atomic force microscopy in experimental solid mechanics. Presenting complete instructions to various areas of experimental solid mechanics, guidance to detailed expositions in important references, and a description of state-of-the-art applications in important technical areas, this thoroughly revised and updated edition is an excellent reference to a widespread academic, industrial, and professional engineering audience.
Book Synopsis Spatial Augmented Reality by : Oliver Bimber
Download or read book Spatial Augmented Reality written by Oliver Bimber and published by CRC Press. This book was released on 2005-08-08 with total page 386 pages. Available in PDF, EPUB and Kindle. Book excerpt: Like virtual reality, augmented reality is becoming an emerging platform in new application areas for museums, edutainment, home entertainment, research, industry, and the art communities using novel approaches which have taken augmented reality beyond traditional eye-worn or hand-held displays. In this book, the authors discuss spatial augmented r
Book Synopsis Creating Autonomous Vehicle Systems by : Shaoshan Liu
Download or read book Creating Autonomous Vehicle Systems written by Shaoshan Liu and published by Morgan & Claypool Publishers. This book was released on 2017-10-25 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.
Book Synopsis Computer Vision - ECCV 2000 by : David Vernon
Download or read book Computer Vision - ECCV 2000 written by David Vernon and published by Springer. This book was released on 2003-08-06 with total page 953 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ten years ago, the inaugural European Conference on Computer Vision was held in Antibes, France. Since then, ECCV has been held biennially under the auspices of the European Vision Society at venues around Europe. This year, the privilege of organizing ECCV 2000 falls to Ireland and it is a signal honour for us to host what has become one of the most important events in the calendar of the computer vision community. ECCV is a single-track conference comprising the highest quality, previously unpublished, contributed papers on new and original research in computer vision. This year, 266 papers were submitted and, following a rigorous double-blind review process, with each paper being reviewed by three referees, 116 papers were selected by the Programme Committee for presentation at the conference. The venue for ECCV 2000 is the University of Dublin, Trinity College. - unded in 1592, it is Ireland’s oldest university and has a proud tradition of scholarship in the Arts, Humanities, and Sciences, alike. The Trinity campus, set in the heart of Dublin, is an oasis of tranquility and its beautiful squares, elegant buildings, and tree-lined playing- elds provide the perfect setting for any conference.
Book Synopsis High Dynamic Range Video by : Frédéric Dufaux
Download or read book High Dynamic Range Video written by Frédéric Dufaux and published by Academic Press. This book was released on 2016-04-27 with total page 631 pages. Available in PDF, EPUB and Kindle. Book excerpt: At the time of rapid technological progress and uptake of High Dynamic Range (HDR) video content in numerous sectors, this book provides an overview of the key supporting technologies, discusses the effectiveness of various techniques, reviews the initial standardization efforts and explores new research directions in all aspects involved in HDR video systems. Topics addressed include content acquisition and production, tone mapping and inverse tone mapping operators, coding, quality of experience, and display technologies. This book also explores a number of applications using HDR video technologies in the automotive industry, medical imaging, spacecraft imaging, driving simulation and watermarking. By covering general to advanced topics, along with a broad and deep analysis, this book is suitable for both the researcher new or familiar to the area. With this book the reader will: - Gain a broad understanding of all the elements in the HDR video processing chain - Learn the most recent results of ongoing research - Understand the challenges and perspectives for HDR video technologies - Covers a broad range of topics encompassing the whole processing chain in HDR video systems, from acquisition to display - Provides a comprehensive overview of this fast emerging topic - Presents upcoming applications taking advantages of HDR
Book Synopsis Computer Vision: A Modern Approach by : David A. Forsyth
Download or read book Computer Vision: A Modern Approach written by David A. Forsyth and published by Pearson Higher Ed. This book was released on 2015-01-23 with total page 793 pages. Available in PDF, EPUB and Kindle. Book excerpt: Appropriate for upper-division undergraduate- and graduate-level courses in computer vision found in departments of Computer Science, Computer Engineering and Electrical Engineering. This textbook provides the most complete treatment of modern computer vision methods by two of the leading authorities in the field. This accessible presentation gives both a general view of the entire computer vision enterprise and also offers sufficient detail for students to be able to build useful applications. Students will learn techniques that have proven to be useful by first-hand experience and a wide range of mathematical methods.
