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2008 Canadian Conference on Computer and Robot Vision

28-30 May 2008

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Displaying Results 1 - 25 of 57
  • [Front cover]

    Publication Year: 2008, Page(s): C1
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  • [Title page i]

    Publication Year: 2008, Page(s): i
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  • [Title page iii]

    Publication Year: 2008, Page(s): iii
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  • [Copyright notice]

    Publication Year: 2008, Page(s): iv
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  • Table of contents

    Publication Year: 2008, Page(s):v - viii
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  • Preface

    Publication Year: 2008, Page(s): ix
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  • Active Vision for Door Localization and Door Opening using Playbot: A Computer Controlled Wheelchair for People with Mobility Impairments

    Publication Year: 2008, Page(s):3 - 10
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (299 KB) | HTML iconHTML

    Playbot is a long-term, large-scale research project, whose goal is to provide a vision-based computer controlled wheelchair that enables children and adults with mobility impairments to become more independent. Within this context, we show how Playbot can actively search an indoor environment to localize a door, approach the door, use a mounted robotic arm to open the door, and go through the doo... View full abstract»

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  • Eye-In-Hand Visual Servoing for Accurate Shooting in Pool Robotics

    Publication Year: 2008, Page(s):11 - 17
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (666 KB) | HTML iconHTML

    Deep Green is a robotic pool system whose objective is to play the game of pool competitively against skillful human opponents. To enhance the playing accuracy of the system, a visual servoing algorithm using a wrist-mounted camera was developed to correct the absolute positioning error of the robot. The novel technique considers an ideal line defined by the intersection of the object and cue ball... View full abstract»

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  • Automatic Pyramidal Intensity-based Laser Scan Matcher for 3D Modeling of Large Scale Unstructured Environments

    Publication Year: 2008, Page(s):18 - 25
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (925 KB) | HTML iconHTML

    We are developing a vision-based system for photorealistic 3D modeling of previously unknown, complex and unstructured underground environments. Nowadays, laser range finders allow us to build 3D maps of the environment by taking multiple scans from different viewpoints. The scans are usually aligned via two post-processing steps: first, a coarse alignment is provided by an operator and second, a ... View full abstract»

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  • A New Miniaturized Embedded Stereo-Vision System (MESVS-I)

    Publication Year: 2008, Page(s):26 - 33
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (748 KB) | HTML iconHTML

    We have developed a fully integrated, miniaturized embedded stereo vision system (MESVS-I) which fits into a tiny package of 5 times 5 cm and consumes very low power (700 mA @ 3.3 V). The system consists of two small profile CMOS cameras, and a power efficient, dual-core embedded media processor, running at 600 MHz per core. The stereo-matching engine performs sub-sampling, rectification, pre-proc... View full abstract»

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  • 6D Vision Goes Fisheye for Intersection Assistance

    Publication Year: 2008, Page(s):34 - 41
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2686 KB) | HTML iconHTML

    For automotive applications, 3D perception of the car's surroundings is crucial, both for driver assistance and for safety systems. In addition, a large field of view is required for future applications such as intersection assistance. A popular option to obtain 3D measurements and detect objects is to use two cameras (stereo vision). Applications based on object detection range from Adaptive Crui... View full abstract»

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  • Challenges of Vision for Real-Time Sensor Based Control

    Publication Year: 2008, Page(s):42 - 49
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (488 KB) | HTML iconHTML

    Sensor-based robot control allows manipulation in dynamic environments with uncertainties. Vision offers a low-cost sensor modality, but low sample rate, high sensor delay and uncertain measurements limit its usability. This paper addresses three problems: uncertain visual measurements, different sampling rates and compensation of the sensor delay. To alleviate the problems above an approach for v... View full abstract»

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  • Enhancing Exploration in Graph-like Worlds

    Publication Year: 2008, Page(s):53 - 60
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (372 KB) | HTML iconHTML

    This paper explores two enhancements that can be made to single and multiple robot exploration in graph-like worlds. One enhancement considers the order in which potential places are explored and another considers the exploitation of local neighbor information to help disambiguate possible locations. Empirical evaluations show that both enhancements can produce a significant reduction in explorati... View full abstract»

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  • Path Planning for Planetary Exploration

    Publication Year: 2008, Page(s):61 - 68
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3480 KB) | HTML iconHTML

    In this paper we present the work done at the Canadian Space Agency on the problem of planetary exploration. One of the main goals is the over-the-horizon navigation of a mobile robot on a Mars like environment. A key component is the ability to plan a path using maps of different resolutions and also to refine/replan when more data becomes available. Our algorithms on path planning and path segme... View full abstract»

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  • An Efficient Region-Based Background Subtraction Technique

    Publication Year: 2008, Page(s):71 - 78
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2686 KB) | HTML iconHTML

    This paper proposes an efficient region-based background subtraction technique using static camera for motion detection in various monitoring applications. Color histograms, texture information, and successive division of candidate rectangular image regions are utilized to model the background and detect the motion. The proposed method combines this principle and the Gaussian mixture background mo... View full abstract»

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  • Ray-based Color Image Segmentation

    Publication Year: 2008, Page(s):79 - 86
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (990 KB) | HTML iconHTML

    We propose a ray-based segmentation method for color images. A segment is represented by a centroid and evenly-distributed rays shooting out from it. First, a bottom-up low-level boundary detection process coarsely constructs candidate segments. Then, two top-down learning processes, mid-level intra-segment learning and high-level inter-segment learning, create the best segments. Segments are crea... View full abstract»

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  • Robust Real-Time Bi-Layer Video Segmentation Using Infrared Video

    Publication Year: 2008, Page(s):87 - 94
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (897 KB) | HTML iconHTML

    In this paper, we propose a novel method for the automatic segmentation of a foreground layer from a natural scene in real time by fusing infrared, color and edge information. This method improves on previous video foreground/background segmentation algorithms by making the system totally independent of changes in ambient lighting. A powerful data acquisition unit was developed using an optical te... View full abstract»

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  • Hierarchical Stereo with Thin Structures and Transparency

    Publication Year: 2008, Page(s):97 - 104
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2839 KB) | HTML iconHTML

    Dense stereo algorithms rely on matching over a range of disparities. To speed up the search and reduce match ambiguity, processing can be embedded in the hierarchical, or coarse-to-fine (CTF), framework using image pyramids. However, this technique is limited when resolving thin structures, as they are poorly represented at coarser scales. In this paper we exploit alternative pyramid and search s... View full abstract»

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  • Structure from Infrared Stereo Images

    Publication Year: 2008, Page(s):105 - 112
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (877 KB) | HTML iconHTML

    Discovering depth from stereopsis is difficult because the quality of un-cooled sensors is not sufficient for generating dense depth maps. We show how to produce sparse disparity maps from uncalibrated infrared stereo images which can be interpolated to produce a dense/semi-dense depth field. In our proposed technique, the sparse disparity map is produced by a robust features-based stereo matching... View full abstract»

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  • Real-time Multi-view Stereo Algorithm using Adaptive-weight Parzen Window and Local Winner-take-all Optimization

    Publication Year: 2008, Page(s):113 - 120
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (874 KB) | HTML iconHTML

    This paper presents a real-time multi-view stereo algorithm, which is based on local winner-take-all optimization. When computing the disparity maps for a given view, the algorithm performs 3 steps: cost volume generation, cost volume merging, and disparity selection. The main focus of this paper is on the second step and a new cost volume merging method is proposed, which combines the adaptive we... View full abstract»

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  • A Cue to Shading: Elongations near Intensity Maxima

    Publication Year: 2008, Page(s):123 - 128
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (612 KB) | HTML iconHTML

    The human visual system is often able to recognize shading patterns and to discriminate them from surface reflectance patterns. To understand how this ability is possible, we investigate what makes shading patterns special. We study a statistical property of shading patterns, namely that they tend to be more elongated near intensity maxima. Second-order derivatives of shading and of surface height... View full abstract»

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  • Camera Self-Calibration and Three Dimensional Reconstruction under Quasi-Perspective Projection

    Publication Year: 2008, Page(s):129 - 136
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2006 KB) | HTML iconHTML

    The problem of camera self-calibration and Euclidean reconstruction from image sequences is addressed in the paper. We propose a quasi-perspective projection model and apply the model to structure and motion factorization to estimate the focal lengths of the cameras. Then we optimize the camera parameters based on Kruppa constraints and recover the metric structure from factorization of the normal... View full abstract»

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  • Detecting Hand-Ball Events in Video Sequences

    Publication Year: 2008, Page(s):139 - 146
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (480 KB) | HTML iconHTML

    We analyse video sequences of a hand interacting with a ball. The hand motion is segmented using a piecewise polynomial motion model inspired by research in motor control. Next, an adaptive gravitational model of the ball is used to locate hand-ball events. We show that hand-ball events can be automatically classified from velocity and acceleration profiles. View full abstract»

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  • Face and Hands Detection and Tracking Applied to the Monitoring of Medication Intake

    Publication Year: 2008, Page(s):147 - 154
    Cited by:  Papers (4)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1134 KB) | HTML iconHTML

    This paper presents detection and tracking methods for userpsilas body parts in video sequences. They are applied to detect human activities, in the case of this work, the detection of medication intake. We use a technique based on color and shape to detect the body parts and the medication bottles. Color is used for skin detection, and the shape is used to distinguish the faces from the hands and... View full abstract»

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  • 3D Human Motion Tracking Using Dynamic Probabilistic Latent Semantic Analysis

    Publication Year: 2008, Page(s):155 - 162
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (955 KB) | HTML iconHTML

    We propose a generative statistical approach to human motion modeling and tracking that utilizes probabilistic latent semantic (PLSA) models to describe the mapping of image features to 3D human pose estimates. PLSA has been successfully used to model the co-occurrence of dyadic data on problems such as image annotation where image features are mapped to word categories via latent variable semanti... View full abstract»

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