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2014 Canadian Conference on Computer and Robot Vision

6-9 May 2014

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  • [Front cover]

    Publication Year: 2014, Page(s): C4
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  • [Title page i]

    Publication Year: 2014, Page(s): i
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  • [Title page iii]

    Publication Year: 2014, Page(s): iii
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  • [Copyright notice]

    Publication Year: 2014, Page(s): iv
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  • Table of contents

    Publication Year: 2014, Page(s):v - viii
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  • Welcome

    Publication Year: 2014, Page(s):ix - x
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  • Program Committee

    Publication Year: 2014, Page(s):xi - xii
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  • Optimizing Camera Perspective for Stereo Visual Odometry

    Publication Year: 2014, Page(s):1 - 7
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (887 KB) | HTML iconHTML

    Visual Odometry (VO) is an integral part of many navigation techniques in mobile robotics. In this work, we investigate how the orientation of the camera affects the overall position estimates recovered from stereo VO. Through simulations and experimental work, we demonstrate that this error can be significantly reduced by changing the perspective of the stereo camera in relation to the moving pla... View full abstract»

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  • Towards Estimating Bias in Stereo Visual Odometry

    Publication Year: 2014, Page(s):8 - 15
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (593 KB) | HTML iconHTML

    Stereo visual odometry (VO) is a common technique for estimating a camera's motion, features are tracked across frames and the pose change is subsequently inferred. This position estimation method can play a particularly important role in environments in which the global positioning system (GPS) is not available (e.g., Mars rovers). Recently, some authors have noticed a bias in VO position estimat... View full abstract»

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  • Stix-Fusion: A Probabilistic Stixel Integration Technique

    Publication Year: 2014, Page(s):16 - 23
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1079 KB) | HTML iconHTML

    In summer 2013, a Mercedes S-Class drove completely autonomously for about 100 km from Mannheim to Pforzheim, Germany, using only close-to-production sensors. In this project, called Mercedes Benz Intelligent Drive, stereo vision was one of the main sensing components. For the representation of free space and obstacles we relied on the so called Stixel World, a generic 3D intermediate representati... View full abstract»

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  • Towards Full Omnidirectional Depth Sensing Using Active Vision for Small Unmanned Aerial Vehicles

    Publication Year: 2014, Page(s):24 - 31
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (366 KB) | HTML iconHTML

    Collision avoidance for small unmanned aerial vehicles operating in a variety of environments is limited by the types of available depth sensors. Currently, there are no sensors that are lightweight, function outdoors in sunlight, and cover enough of a field of view to be useful in complex environments, although many sensors excel in one or two of these areas. We present a new depth estimation met... View full abstract»

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  • Autonomous Maritime Landings for Low-Cost VTOL Aerial Vehicles

    Publication Year: 2014, Page(s):32 - 39
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (538 KB) | HTML iconHTML

    Autonomous landing of quad rotor UAV on a maritime vessel is a challenging task, as low cost sensors, unknown movements of the landing surface, and external disturbances make it difficult to generate a relative pose estimate with sufficient accuracy for landing. In this work, we propose an architecture that avoids sensor limitations while allowing for accurate relative pose estimation, even in the... View full abstract»

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  • Self-Localization at Street Intersections

    Publication Year: 2014, Page(s):40 - 47
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (835 KB) | HTML iconHTML

    There is growing interest among smartphone users in the ability to determine their precise location in their environment for a variety of applications related to way finding, travel and shopping. While GPS provides valuable self-localization estimates, its accuracy is limited to approximately 10 meters in most urban locations. This paper focuses on the self-localization needs of blind or visually ... View full abstract»

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  • Adaptive Robotic Contour Following from Low Accuracy RGB-D Surface Profiling and Visual Servoing

    Publication Year: 2014, Page(s):48 - 55
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (624 KB) | HTML iconHTML

    This paper introduces an adaptive contour following method for robot manipulators that originally combines low accuracy RGB-D sensing with eye-in-hand visual servoing. The main objective is to allow for the detection and following of freely shaped 3D object contours under visual guidance that is initially provided by a fixed Kinect sensor and refined by a single eye-in-hand camera. A path planning... View full abstract»

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  • Speed Daemon: Experience-Based Mobile Robot Speed Scheduling

    Publication Year: 2014, Page(s):56 - 62
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (459 KB) | HTML iconHTML

    A time-optimal speed schedule results in a mobile robot driving along a planned path at or near the limits of the robot's capability. However, deriving models to predict the effect of increased speed can be very difficult. In this paper, we present a speed scheduler that uses previous experience, instead of complex models, to generate time-optimal speed schedules. The algorithm is designed for a v... View full abstract»

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  • Image Retrieval Using Landmark Indexing for Indoor Navigation

    Publication Year: 2014, Page(s):63 - 70
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (453 KB) | HTML iconHTML

    A novel approach is proposed for real-time retrieval of images from a large database of overlapping images of an indoor environment. The procedure extracts visual features from images using selected computer vision techniques, and processes the extracted features to create a reduced list of features annotated with the frame numbers they appear in. This method is named landmark indexing. Unlike som... View full abstract»

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  • Generalized Exposure Fusion Weights Estimation

    Publication Year: 2014, Page(s):71 - 76
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB) | HTML iconHTML

    Only a small part of the large intensities interval found in high dynamic range scenes can be captured with usual image sensors. This is why delivered images may contain under or overexposed pixels. A popular approach to overcome this problem is to take several images using different exposure parameters, and then fuse them into one single image. This exposure fusion is mostly performed as a weight... View full abstract»

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  • 3D Scan Registration Using Curvelet Features

    Publication Year: 2014, Page(s):77 - 83
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB) | HTML iconHTML

    Scan registration methods can often suffer from convergence and accuracy issues when the scan points are sparse or the environment violates the assumptions the methods are founded on. We propose an alternative approach to 3D scan registration using the curve let transform that performs multi-resolution geometric analysis to obtain a set of coefficients indexed by scale (coarsest to finest), angle ... View full abstract»

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  • Building Better Formlet Codes for Planar Shape

    Publication Year: 2014, Page(s):84 - 91
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB) | HTML iconHTML

    The GRID/formlet representation of planar shape has a number of nice properties [4], [10], [3], but there are also limitations: it is slow to converge for shapes with elongated parts, and it can be sensitive to parameterization as well as grossly ill-conditioned. Here we describe a number of innovations on the GRID/formlet model that address these problems: 1) By generalizing the formlet basis to ... View full abstract»

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  • Sign Language Fingerspelling Classification from Depth and Color Images Using a Deep Belief Network

    Publication Year: 2014, Page(s):92 - 97
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (558 KB) | HTML iconHTML

    Automatic sign language recognition is an open problem that has received a lot of attention recently, not only because of its usefulness to signers, but also due to the numerous applications a sign classifier can have. In this article, we present a new feature extraction technique for hand pose recognition using depth and intensity images captured from a Microsoft Kinect sensor. We applied our tec... View full abstract»

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  • Multi-task Learning of Facial Landmarks and Expression

    Publication Year: 2014, Page(s):98 - 103
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (221 KB) | HTML iconHTML

    Recently, deep neural networks have been shown to perform competitively on the task of predicting facial expression from images. Trained by gradient-based methods, these networks are amenable to "multi-task" learning via a multiple term objective. In this paper we demonstrate that learning representations to predict the position and shape of facial landmarks can improve expression recognition from... View full abstract»

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  • Exploring Underwater Environments with Curiosity

    Publication Year: 2014, Page(s):104 - 110
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3098 KB) | HTML iconHTML

    This paper presents a novel approach to modeling curiosity in a mobile robot, which is useful for monitoring and adaptive data collection tasks. We use ROST, a real time topic modeling framework to build a semantic perception model of the environment, using which, we plan a path through the locations in the world with high semantic information content. We demonstrate the approach using the Aqua ro... View full abstract»

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  • Visual Saliency Improves Autonomous Visual Search

    Publication Year: 2014, Page(s):111 - 118
    Cited by:  Papers (2)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (546 KB) | HTML iconHTML

    Visual search for a specific object in an unknown environment by autonomous robots is a complex task. The key challenge is to locate the object of interest while minimizing the cost of search in terms of time or energy consumption. Given the impracticality of examining all possible views of the search environment, recent studies suggest the use of attentive processes to optimize visual search. In ... View full abstract»

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  • Segmenting Objects in Weakly Labeled Videos

    Publication Year: 2014, Page(s):119 - 126
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1174 KB) | HTML iconHTML

    We consider the problem of segmenting objects in weakly labeled video. A video is weakly labeled if it is associated with a tag (e.g. Youtube videos with tags) describing the main object present in the video. It is weakly labeled because the tag only indicates the presence/absence of the object, but does not give the detailed spatial/temporal location of the object in the video. Given a weakly lab... View full abstract»

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  • Grid Seams: A Fast Superpixel Algorithm for Real-Time Applications

    Publication Year: 2014, Page(s):127 - 134
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1520 KB) | HTML iconHTML

    Super pixels are a compact and simple representation of images that has been used for many computer vision applications such as object localization, segmentation and depth estimation. While useful as compact representations of images, the time complexity of super pixel algorithms has prevented their use in real-time applications like video processing. Fast super pixel algorithms have been proposed... View full abstract»

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