We present a work-in-progress method for real-time visionbased localization in indoor environments. Given a rough model of the structure and a video sequence captured from an omnivision camera, the system computes the camera pose (translation and rotation) in the structure coordinate frame. The system has several novel aspects: it performs localization in 3D; it handles highly cluttered and dyn...

Camera control in real-time interactive 3D applications is a challenging problem. Developing a generalized system able to produce high quality visual results and smooth camera movements in dynamic environments remains an open problem in the research community. In this paper, we describe the implementation and evaluation of Artificial Potential Fields for automatic camera placement. We first des...

partial frames provide a rich context in which to do pointfree structured and unstructured topology. a small collection of axioms of an elementary nature allows one to do much traditional pointfree topology, both on the level of frames or locales, and that of uniform or metric frames. these axioms are sufficiently general to include as examples bounded distributive lattices, $sigma$-frames, $ka...

Recently, the availability of low cost depth cameras has provided 3D sensing capabilities for mobile robots in the form of dense 3D point clouds, usable for applications like 3D mapping and reconstruction, shape analysis, pose tracking and object recognition. For all the aforementioned applications, processing the raw 3D point cloud in real time and at full frame rates may be infeasible due to ...

This paper addresses the problem of monocular Simultaneous Localization And Mapping on Lie groups using fiducial patterns. For that purpose, we propose a reformulation classical camera model as matrix groups. Thus, define an original-state vector containing pose and set transformations from world frame to each pattern, which constitutes map’s state. Each element state, well pose, are intrinsica...

Advances in compressive sensing (CS) techniques and instrumentation have created a renewed interest in exploring new methods for data collection and post-processing [1,2]. Recently developed Temporal CS (TCS) techniques based on post-specimen, high-speed electrostatic beam deflectors effectively multiply the frame rate of commonly available TEM cameras by pre-compressing video data on the detec...

We present a technique for the registration of a network of surveillance cameras through the automatic alignment of observed planar motion trajectories. The algorithm address the problem of recovering the relative pose of several stationary, networked cameras whose intrinsic parameters are known. Each camera tracks several objects to produce a set of trajectories in the image. Using temporal an...

Automatic moving object detection/extraction has been explored extensively by the computer vision community. Unfortunately majority of the work has been limited to stationary cameras, in which background subtraction is utilized as the major methodology. In this paper, we will present a technique to tackle the problem in the case of moving camera which is the most often encountered situation in ...

A polyhedral approximation for the volumetric description of a moving rigid object from a real-world scene is derived, based on measurements in monocular TV-frame sequences. The trajectory and attitude of the object motion relative to the camera is simultaneously determined up to the same factor which scales the object description. Results from one street scene sequence are presented. The appro...