Related papers: Look Both Ways: Bidirectional Visual Sensing for A…
We propose a method for automatic calibration of a traffic surveillance camera with wide-angle lenses. Video footage of a few minutes is sufficient for the entire calibration process to take place. This method takes in the height of the…
Detection of moving objects is an essential capability in dealing with dynamic environments. Most moving object detection algorithms have been designed for color images without depth. For robotic navigation where real-time RGB-D data is…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
Detecting and tracking vehicles in urban scenes is a crucial step in many traffic-related applications as it helps to improve road user safety among other benefits. Various challenges remain unresolved in multi-object tracking (MOT)…
Making multi-camera visual SLAM systems easier to set up and more robust to the environment is attractive for vision robots. Existing monocular and binocular vision SLAM systems have narrow sensing Field-of-View (FoV), resulting in…
A method of information transmission using visual markers has been widely studied. In this approach, information or identifiers (IDs) are encoded in the black-and-white pattern of each marker. By analyzing the geometric properties of the…
Object detection is a comprehensively studied problem in autonomous driving. However, it has been relatively less explored in the case of fisheye cameras. The standard bounding box fails in fisheye cameras due to the strong radial…
With the advance of AI, road object detection has been a prominent topic in computer vision, mostly using perspective cameras. Fisheye lens provides omnidirectional wide coverage for using fewer cameras to monitor road intersections,…
Domestic service robots such as lawn mowing and vacuum cleaning robots are the most numerous consumer robots in existence today. While early versions employed random exploration, recent systems fielded by most of the major manufacturers…
This paper describes a multimodal vision sensor that integrates three types of cameras, including a stereo camera, a polarization camera and a panoramic camera. Each sensor provides a specific dimension of information: the stereo camera…
Cameras are the primary sensor in automated driving systems. They provide high information density and are optimal for detecting road infrastructure cues laid out for human vision. Surround-view camera systems typically comprise of four…
Vehicle perception systems strive to achieve comprehensive and rapid visual interpretation of their surroundings for improved safety and navigation. We introduce YOLO-BEV, an efficient framework that harnesses a unique surrounding cameras…
Visual odometry is a widely used technique in the field of robotics and automation to keep a track on the location of a robot using visual cues alone. In this paper, we propose a joint forward backward visual odometry framework by combining…
Augmented reality (AR) displays become more and more popular recently, because of its high intuitiveness for humans and high-quality head-mounted display have rapidly developed. To achieve such displays with augmented information, highly…
Fish-eye cameras are becoming increasingly popular in computer vision, but their use for 3D measurement is limited partly due to the lack of an accurate, efficient and user-friendly calibration procedure. For such a purpose, we propose a…
We present a simple approach for sensor registration in target tracking applications. The proposed method uses targets of opportunity and, without making assumptions on their dynamical models, allows simultaneous calibration of multiple…
We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…
We propose a novel real-time direct monocular visual odometry for omnidirectional cameras. Our method extends direct sparse odometry (DSO) by using the unified omnidirectional model as a projection function, which can be applied to fisheye…
With the development of autonomous driving technology, sensor calibration has become a key technology to achieve accurate perception fusion and localization. Accurate calibration of the sensors ensures that each sensor can function properly…
Estimating the pose of an unmanned aerial vehicle (UAV) or drone is a challenging task. It is useful for many applications such as navigation, surveillance, tracking objects on the ground, and 3D reconstruction. In this work, we present a…