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Registering multiple range images based on distance metric of surface-to-surface

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Science in China(Series F) 2005年第2期48卷 179-191页

作者： ZHANGHongbin XIEFeng ComputerInstituteofBeijingUniversityofTechnology Beijing100022China

In most conventional algorithms of registering multiple range images, the pose parameters are estimated by using the distance sum between closest point pairs as the objective function. These algorithms have the problems of inexact point correspondence, registration accuracy, and sensitivity to initial registration parameters. Due to the scanner settings, scanner distance, and surface slopes, two or more 3D data sets are unlikely to be acquired such that the 3D data points exactly correspond, and also each point in the data set may represent different surface areas. This paper proposes a novel registration algorithm based on a distance metric of surface-to-surface. The algorithm uses triangle meshes to represent the surfaces. Based on surface sampling and the point-to-surface distances, the integration calculation of the mean distance between surfaces is derived and reduced to a simple formula. The method was tested on synthetic and real range images.

关键词： range image multiple views motion estimation registration.

A New Calibration Method for an Inertial and Visual Sensing System

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International Journal of Automation and computing 2012年第3期9卷 299-305页

作者： Xu, De Wang, Hua-Wei Li, You-Fu Tan, Min State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China East China Research Institute of Electronic Engineering Hefei 230088 China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China

The relative pose between inertial and visual sensors equipped in autonomous robots is calibrated in two steps. In the first step, the sensing system is moved along a line, the orientations in the relative pose are computed from at least five corresponding points in the two images captured before and after the movement. In the second step, the translation parameters in the relative pose are obtained with at least two corresponding points in the two images captured before and after one step motion. Experiments are conducted to verify the effectiveness of the proposed method.

关键词： Inertial sensor visual sensor calibration motion estimation robot vision.

Super resolution reconstruction of moving objects from low resolution surveillance video

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High Technology Letters 2008年第2期14卷 123-128页

作者：王素玉 Shen Lansun David Daganfeng Li Xiaoguang

Construction of high resolution images from low resolution sequences having rigid or semi-rigid ob-jects with unified motions is often important in surveillance and other *** this paper a novelobject-based super resolution reconstruction scheme was proposed,in which a six-parameter affine model-based object tracking and registration method was first used to segment and match objects among a se-quence of low resolution *** motion model was then further extended to the traditional maximuma posterior(MAP)super resolution *** proposed object tracking and registration method wasevaluated by both simulated and real acquired *** results have demonstrated the high accura-cy of the proposed object based method and the enhanced reconstruction performance of the extended ap-proach.

关键词： super resolution reconstruction visual surveillance maximum a posterior (MAP) atone model motion estimation

Global point tracking based panoramic image stabilization system

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Optoelectronics Letters 2009年第1期5卷 61-63页

作者：朱娟娟郭宝龙吴宪祥 School of Electromechanical Engineering ICIE InstituteXi'an University of Electronic Science and Technology

A novel image stabilization system is presented,which consists of a global feature point tracking based motion estimation,a Kalman filtering based motion smoothing and an image mosaic based panoramic *** global motion is estimated using feature point matching and iteration with the least-square ***,the Kalman filter is applied to smooth the original motion vectors to effectively alleviate unwanted camera vibrations and follow the intentional camera ***,the loss information of im...

关键词： Cameras Control theory Kalman filters motion compensation motion estimation Optical flows Stabilization Video recording

Mobile Robotic Control System Based on Master-Slave Teleoperate Mechanical Arm

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Mobile Robotic Control System Based on Master-Slave Teleoper...

An Accurate and Efficient Monocular Mixed Match SLAM 36

第25届中国控制与决策会议

作者： Yan Kai.Chao Yong Fei.Zhou Yu Lin.Xu Department of Mechatronics Engineering and Automation Shanghai University

ISBN: (纸本)9781467355339

In order to make mobile robot adapt to more intricate work environment, complete more complicated operation through the mechanical arm. This paper presents a robotic control system based on master-slave remote operation of mechanical arm. Firstly, to realize synchronization of the master-slave mechanical arm, controlling the slave mechanical arm to finish the same action by operating the master mechanical. Robot captures the video, temperature and location information of work site and transmits to the monitoring center through the wireless network. In order to improve the real-time performance of the system, this paper adopts open-source library Xvidcore to code, decode and puts forward the novel motion estimation algorithm ARPS to optimize the library. The robot control system has been verified in the actual environment.

关键词： mobile robot master-slave remote operation Xvidcore motion estimation

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An Accurate and Efficient Monocular Mixed Match SLAM

A novel background modeling approach for accurate and real-time motion segmentation

第36届中国控制会议

作者： DAI Weichen ZHANG Yu LI Ping State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang University

ISBN: (纸本)9781538629185

This paper proposed a Mixed Match SLAM embedded with two match methods,planar patch based and visual descriptor *** patch based method eliminates the cost of feature extraction for motion *** descriptor based method is more robust for wide baseline match and loop *** use a reasonable statistic criterion to determine keyframe for redundancy *** efficient outlier detection method is employed to pick out feature match outliers trapped in local *** comparison experiments with the state-of-the-art ORB-SLAM2 show that the proposed method achieves better performance in large region dynamic scenes due to a less redundant keyframe *** also provides better performance than ORB-SLAM2 in most static benchmark scenes with higher efficiency.

关键词： SLAM Mixed Match motion estimation Statistic Keyframe Determination

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A novel background modeling approach for accurate and real-t...

Improved Diamond Search Algorithm for H.264/AVC Video Coding Standard

2006 8th International Conference on Signal Processing

作者： WANG Tang CHEN Gong ZHOU Heqin Department of Automation University of Science and Technology of China

ISBN: (纸本)0780397371

＜正＞Fast and accurate segmentation of moving objects in video sequences is a basic task in many computer vision and video analysis *** paper presents a novel method for background modeling based on the Unscented Kalman Filter（UKF） *** addition,shadow detection is conducted during motion *** are performed under different conditions indoor and *** results show that the proposed algorithm is effective and efficient in background modeling and motion segmentation.

关键词： motion estimation

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Wuhan University Journal of Natural Sciences 2008年第1期13卷 62-66页

作者： HU Feng LIU Jia CHEN Shuzhen School of Electronic Information Wuhan University Wuhan 430072 Hubei China

Diamond search （DS） is an excellent fast block matching motion estimation （BMME） algorithm. In this paper, we propose an improved diamond search （IDS） algorithm, which revises the two search patterns of DS. The proposed algorithm is compared with several mainstream algorithms. The simulation results show that the proposed algorithm over DS can be up to 20% gain on speedup on average, while maintain the similar or even better quality, both objectively and subjectively. The proposed algorithm is also competitive with other fast algorithms.

关键词： diamond search H.264 motion estimation peak signal to noise ratio

Integrations of both high resolution reconstruction and non-uniformity correction of infrared image sequence based on regularized maximum a posteriori

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Frontiers of Optoelectronics 2011年第4期4卷 438-443页

作者： Xiu LIU Weiqi JIN Yan CHEN Chongliang LIU Bin LIU School of Optoelectronics Beijing Institute of Technology & Key Laboratory of Photo-Electronic Imaging Technology and SystemMinistry of Education

During thermal imaging, it is vital importance to obtain high-performance images that non-uniformity noise in infrared focal plane array(IRFPA) should be eliminatined and the imaging spatial resolution should be improved as far as possible. Processing algorithms related to both of them have been hot topics, and attracted more and more attention of researchers. Considering that both high-resolution restoration algorithm of image sequences and scene-based non-uniformity correction(NUC) algorithm require multi-frame image sequences of target scene with micro-displacement, an integrated processing algorithm of high-resolution image reconstruction and NUC of infrared image sequences based on regularized maximum a posteriori(MAP) is proposed. Results of simulated and experimental thermal image suggested that this algorithm can suppress random noise and eliminate non-uniformity noise effectively, and high-resolution thermal imaging can be achieved.

关键词： infrared image image sequences motion estimation non-uniformity correction (NUC) maximum a posteriori (MAP) restoration