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2011 Canadian Conference on Computer and Robot Vision

25-27 May 2011

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  • [Front cover]

    Publication Year: 2011, Page(s): C1
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  • [Title page i]

    Publication Year: 2011, Page(s): i
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  • [Title page iii]

    Publication Year: 2011, Page(s): iii
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  • [Copyright notice]

    Publication Year: 2011, Page(s): iv
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  • Table of contents

    Publication Year: 2011, Page(s):v - viii
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  • Preface

    Publication Year: 2011, Page(s): ix
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  • Préface Français [French language preface message]

    Publication Year: 2011, Page(s): x
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  • Reviewers

    Publication Year: 2011, Page(s):xi - xii
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  • Place Classification Using Visual Object Categorization and Global Information

    Publication Year: 2011, Page(s):1 - 7
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (421 KB) | HTML iconHTML

    Places in an environment are locations where activities occur, and can be described by the objects they contain. This paper discusses the completely automated integration of object detection and global image properties for place classification. We first determine object counts in various place types based on Label Me images, which contain annotations of places and segmented objects. We then train ... View full abstract»

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  • Utilizing Geographic Information System Data for Unmanned Aerial Vehicle Position Estimation

    Publication Year: 2011, Page(s):8 - 15
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (962 KB) | HTML iconHTML

    For many sensing applications Unmanned Aerial Vehicles (UAVs) can provide a lightweight and highly portable solution. Inevitably they may encounter malfunctions, the most serious of which may require the UAV to land as soon as possible. From a safety prospective it is insufficient to assume the UAV can safely reach a previously determined safe landing site. It is therefore desirable to utilize a r... View full abstract»

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  • Range-based Navigation System for a Mobile Robot

    Publication Year: 2011, Page(s):16 - 23
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (902 KB) | HTML iconHTML

    In this paper we present an algorithm for path planning in a fixed range-only beacon field. We define and calculate entropy values for regions of interest and provide a method for finding "safe," low-entropy paths between regions. We go on to describe a robotic system for performing range-based localization experiments, developed using inexpensive off-the-shelf components. Our system uses a commer... View full abstract»

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  • Conformative Filter: A Probabilistic Framework for Localization in Reduced Space

    Publication Year: 2011, Page(s):24 - 31
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (916 KB) | HTML iconHTML

    Algorithmic problem reduction is a fundamental approach to problem solving in many fields, including robotics. To solve a problem using this scheme, we must reduce the problem into another one for which solutions exist. The reduction function, which infers a conformation between the problem and the solution space, plays an important role in solution evaluation and is sometimes used to transform th... View full abstract»

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  • Using Line and Ellipse Features for Rectification of Broadcast Hockey Video

    Publication Year: 2011, Page(s):32 - 39
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2993 KB) | HTML iconHTML

    To use hockey broadcast videos for automatic game analysis, we need to compensate for camera viewpoint and motion. This can be done by using features on the rink to estimate the homography between the observed rink and a geometric model of the rink, as specified in the appropriate rule book (top down view of the rink). However, player occlusion, wide range of camera motion, and frames with few rel... View full abstract»

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  • Fourier Tag: A Smoothly Degradable Fiducial Marker System with Configurable Payload Capacity

    Publication Year: 2011, Page(s):40 - 47
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2229 KB) | HTML iconHTML

    We describe the design and implementation of a fiducial marker system that encodes data in the frequency spectrum of a synthetic image. This distinctive approach to marker synthesis and data encoding allows for partial data extraction in adverse imaging conditions, and can significantly extend the detection range through graceful data degradation. Additional digital encoding and image construction... View full abstract»

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  • Improved Pressure Sensitive Paint Measurement Using Natural Feature Tracking and Piecewise Linear Resection

    Publication Year: 2011, Page(s):48 - 55
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (4199 KB) | HTML iconHTML

    Wind tunnel Pressure Sensitive Paint (PSP) ratio techniques require accurate registration between wind-on and wind-off camera image pairs. The Piecewise Linear Resection (PLR) method of removing registration due to physical wind tunnel model motion and deformation errors can account for nonlinear deformations and benefits from increased tracking point coverage in the image. This work presents a me... View full abstract»

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  • Robotic Tracking and Marking of Surface Shape Defects on Moving Automotive Panels

    Publication Year: 2011, Page(s):56 - 63
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1257 KB) | HTML iconHTML

    This paper examines the complex problem of robotic interaction with moving panels exhibiting few distinctive visual features, in the context of marking surface deformation defects for quality control in the automotive industry. In order to integrate a defects detection station and a robotic tracking and marking system within a unified framework, an original inter-calibration technique is developed... View full abstract»

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  • Extended Histogram of Gradients with Asymmetric Principal Component and Discriminant Analyses for Human Detection

    Publication Year: 2011, Page(s):64 - 71
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2196 KB) | HTML iconHTML

    Asymmetry in training sets of humans and non-humans and high dimensionality of existing features are problems plaguing human detection. As classification of humans tends to be one class versus all other classes, existing classification methods do not consider this asymmetry in the training sets which leads to sub optimal classifier performance. Furthermore, the high dimensionality of existing feat... View full abstract»

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  • A PSO Accelerated Immune Particle Filter for Dynamic State Estimation

    Publication Year: 2011, Page(s):72 - 79
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (886 KB) | HTML iconHTML

    Particle Filter (PF) is a flexible and powerful Sequential Monte Carlo (SMC) technique to solve the nonlinear state/parameter estimation problems. The generic PF suffers due to degeneracy or sample impoverishment, which adversely affects its performance. In order to overcome this issue of the generic PF, a Particle Swarm Optimization accelerated Immune Particle Filter (PSO-acc-IPF) is proposed in ... View full abstract»

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  • Combining Multi-robot Exploration and Rendezvous

    Publication Year: 2011, Page(s):80 - 85
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (411 KB) | HTML iconHTML

    We consider the problem of exploring an unknown environment with a pair of mobile robots. The goal is to make the robots meet (or rendezvous) in minimum time such that there is a maximum speed gain of the exploration task. The key challenge in achieving this goal is to rendezvous with the least possible dependency on communication. This single constraint involves several sub-problems: finding uniq... View full abstract»

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  • Visual Odometry Using 3-Dimensional Video Input

    Publication Year: 2011, Page(s):86 - 93
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1666 KB) | HTML iconHTML

    Using Visual Odometry a robot can track its trajectory using video input. This allows more accurate ego-motion estimation when compared to classical odometry which relies on measurement of wheel motion. The Microsoft Kinect sensor provides 3D imagery, similar to a LASER or LIDAR scanner, which can be used for visual odometry with a single sensor. This diers from usual implementations that require ... View full abstract»

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  • Performance of Stereo Methods in Cluttered Scenes

    Publication Year: 2011, Page(s):94 - 101
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (793 KB) | HTML iconHTML

    This paper evaluates the performance of different stereo formulations in the context of cluttered scenes with large number of binocular-monocular boundaries (i.e. occlusion boundaries). Three stereo methods employing three different constraints are considered. These are basic (Basic), uniqueness (KZ-uni), and visibility (KZ-vis). Scenes for the experiments are synthetically generated and some are ... View full abstract»

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  • Practicality-Based Probabilistic Roadmaps Method

    Publication Year: 2011, Page(s):102 - 108
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (6861 KB) | HTML iconHTML

    Probabilistic roadmap methods (PRMs) are a commonly used approach to path planning problems in a high-dimensional search space. Although PRMs can often find a solution to solving the path finding problem the solutions are often not practical in that they can cause the device to flail around or to pass very close to obstacles in the environment. This paper presents a variant of PRMs that addresses ... View full abstract»

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  • Precise High Speed Multi-Target Multi-Sensor Local Positioning System

    Publication Year: 2011, Page(s):109 - 116
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (698 KB) | HTML iconHTML

    When used for tracking, the combination of infrared (IR) and an internal measurement unit (IMU) allows researchers and industry to locate objects to within 1 cm at over 200 Hz with a latency less than 2 ms. This novel tracking system uses multiple cameras to triangulate an IR LED placed on the object and utilizes IMU data to measure the object's orientation and allow the system to be robust agains... View full abstract»

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  • GPU-Accelerated Foveation for Video Frame Rate Tracking

    Publication Year: 2011, Page(s):117 - 124
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (10796 KB) | HTML iconHTML

    A new approach for acceleration of motion tracking in video using a combination of foveation and CUDA technology is described. The use of GPU-accelerated foveation allows motion segmentation to be performed at high frame rates on high-resolution video sequences. To illustrate the technique, the implementation of an optical flow algorithm and its application to motion-segmented video for the real-t... View full abstract»

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  • FPGA Implementation of Blob Recognition

    Publication Year: 2011, Page(s):125 - 131
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2798 KB) | HTML iconHTML

    An Field Programmable Gate Array (FPGA) based embedded vision system capable of recognizing objects in real time is presented in this paper. The proposed system architecture consists of multiple Intellectual Properties (IPs), which are used as a set of complex instructions by an integrated 32-bit CPU Micro blaze. Each IP is tailored specifically to meet the needs of the application and at the same... View full abstract»

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