Related papers: Vision-Based Navigation II: Error Analysis for a N…
This draft summarizes some basics about geometric computer vision needed to implement efficient computer vision algorithms for applications that use measurements from at least one digital camera mounted on a moving platform with a special…
Motion Planning, as a fundamental technology of automatic navigation for the autonomous vehicle, is still an open challenging issue in the real-life traffic situation and is mostly applied by the model-based approaches. However, due to the…
Event-based cameras are neuromorphic sensors capable of efficiently encoding visual information in the form of sparse sequences of events. Being biologically inspired, they are commonly used to exploit some of the computational and power…
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…
Both a good understanding of geometrical concepts and a broad familiarity with objects lead to our excellent perception of moving objects. The human ability to detect and segment moving objects works in the presence of multiple objects,…
One of the fundamental problems in computer vision is the two-frame relative pose optimization problem. Primarily, two different kinds of error values are used: photometric error and re-projection error. The selection of error value is…
In this paper, two simple principal component regression methods for estimating the optical flow between frames of video sequences according to a pel-recursive manner are introduced. These are easy alternatives to dealing with mixtures of…
Optical flow is a method aimed at predicting the movement velocity of any pixel in the image and is used in medicine and biology to estimate flow of particles in organs or organelles. However, a precise optical flow measurement requires…
Object pose tracking is one of the pivotal technologies in multimedia, attracting ever-growing attention in recent years. Existing methods employing traditional cameras encounter numerous challenges such as motion blur, sensor noise,…
Optical Flow (OF) is the movement pattern of pixels or edges that is caused in a visual scene by the relative motion between an agent and a scene. OF is used in a wide range of computer vision algorithms and robotics applications. While the…
One of the most relevant tasks in an intelligent vehicle navigation system is the detection of obstacles. It is important that a visual perception system for navigation purposes identifies obstacles, and it is also important that this…
Digital terrain maps (DTMs) are an important part of planetary exploration, enabling operations such as terrain relative navigation during entry, descent, and landing for spacecraft and aiding in navigation on the ground. As robotic…
Motion representation plays a vital role in human action recognition in videos. In this study, we introduce a novel compact motion representation for video action recognition, named Optical Flow guided Feature (OFF), which enables the…
Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…
Fine localization in autonomous driving platforms is a task of broad interest, receiving much attention in recent years. Some localization algorithms use the Euclidean distance as a similarity measure between the local image acquired by a…
The expected position error in many cases is far from feasible to be estimated experimentally using real satellite measurements which makes the model-based position dilution of precision (PDOP) crucial in positioning and navigation…
This paper quantifies an error source that limits the accuracy of lidar scan matching, particularly for voxel-based methods. Lidar scan matching, which is used in dead reckoning (also known as lidar odometry) and mapping, computes the…
Modern on-road navigation systems heavily depend on integrating speed measurements with inertial navigation systems (INS) and global navigation satellite systems (GNSS). Telemetry-based applications typically source speed data from the…
This paper investigates different methods to detect obstacles ahead of a robot using a camera in the robot, an aerial camera, and an ultrasound sensor. We also explored various efficient path finding methods for the robot to navigate to the…
This paper studies optical flow estimation, a critical task in motion analysis with applications in autonomous navigation, action recognition, and film production. Traditional optical flow methods require consecutive frames, which are often…