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第40届中国控制会议

作者： Siyu Huang Sunghun Park Zongying Shi Yisheng Zhong Department of Automation Tsinghua University

This paper proposes a scale recovery method for indoor mobile vehicles with monocular vision. We aim to solve the scale ambiguity problem which is the main weakness of monocular SLAM. The method is based on the detection and modeling of the ground plane under the constant camera height assumption which is suitable for ground mobile vehicles. The ground plane detection relies on vanishing points estimation, and the ground plane modeling is accomplished by point clouds on the ground complemented with vanishing directions estimation. The method is evaluated both on the self-collected indoor dataset and the KITTI benchmark dataset. The experimental results verify the effectiveness of our scale recovery method.

关键词： Scale Recovery Scale Estimation vanishing points Indoor Mobile Vehicles

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Exposing photo manipulation with inconsistent perspective geometry

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The Journal of China Universities of Posts and Telecommunications 2014年第4期21卷 83-91,104页

作者： LI Yan ZHOU Ya-jian YUAN Kai-guo GUO Yu-cui NIU Xin-xin Information Security Center Beijing University of Posts and Telecommunications

Manipulated digital image is got interesting in recent years. Digital images can be manipulated more easily with the aid of powerful image editing software. Forensic techniques for authenticating the integrity of digital images and exposing forgeries are urgently needed. A geometric-based forensic technique which exploits the principle of vanishing points is proposed. By means of edge detection and straight lines extraction, intersection points of the projected parallel lines are computed. The normalized mean value （NMV） and normalized standard deviation （NSD） of the distances between the intersection points are used as evidence for image forensics. The proposed method employs basic rules of linear perspective projection, and makes minimal assumption. The only requirement is that the parallel lines are contained in the image. Unlike other forensic techniques which are based on low-level statistics, this method is less sensitive to image operations that do not alter image content, such as image resampling, color manipulation, and lossy compression. This method is demonstrated with images from York Urban database. It shows that the proposed method has a definite advantage at separating authentic and forged images.

关键词： digital images forgery detection image forensics vanishing points

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维普期刊数据库

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