• Title/Summary/Keyword: motion stereo

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Mapping of Real-Time 3D object movement

  • Tengis, Tserendondog;Batmunkh, Amar
    • International Journal of Internet, Broadcasting and Communication
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    • v.7 no.2
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    • pp.1-8
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    • 2015
  • Tracking of an object in 3D space performed in real-time is a significant task in different domains from autonomous robots to smart vehicles. In traditional methods, specific data acquisition equipments such as radars, lasers etc, are used. Contemporary computer technology development accelerates image processing, and it results in three-dimensional stereo vision to be used for localizing and object tracking in space. This paper describes a system for tracking three dimensional motion of an object using color information in real time. We create stereo images using pair of a simple web camera, raw data of an object positions are collected under realistic noisy conditions. The system has been tested using OpenCV and Matlab and the results of the experiments are presented here.

Stereoscopic Conversion of Object-based MPEG-4 Video (객체 기반 MPEG-4 동영상의 입체 변환)

  • 박상훈;김만배;손현식
    • Proceedings of the IEEK Conference
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    • 2003.07e
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    • pp.2407-2410
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    • 2003
  • In this paper, we propose a new stereoscopic video conversion methodology that converts two-dimensional (2-D) MPEG-4 video to stereoscopic video. In MPEG-4, each Image is composed of background object and primary object. In the first step of the conversion methodology, the camera motion type is determined for stereo Image generation. In the second step, the object-based stereo image generation is carried out. The background object makes use of a current image and a delayed image for its stereo image generation. On the other hand, the primary object uses a current image and its horizontally-shifted version to avoid the possible vertical parallax that could happen. Furthermore, URFA(Uncovered Region Filling Algorithm) is applied in the uncovered region which might be created after the stereo image generation of a primary object. In our experiment, show MPEG-4 test video and its stereoscopic video based upon out proposed methodology and analyze Its results.

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UAV Altitude and Attitude Estimation Method Using Stereo Vision (스테레오 비전를 이용한 무인기 고도 및 자세 추정기법)

  • Jung, Ha-Hyoung;Lee, Jun-Min;Lyou, Joon
    • Journal of Institute of Control, Robotics and Systems
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    • v.22 no.1
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    • pp.17-23
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    • 2016
  • This paper presents the implementation of altitude and attitude measurement algorithm using stereo camera for an unmanned aerial vehicle (UAV). Depth images are generated by calibrating the stereo cameras, and converted into 3D point cloud data. By applying a plane fitting algorithm to the resultant point cloud, altitude from ground level, and roll and pitch angles are extracted. To verify the performance, experimental results are provided by comparing with those of the motion caption system.

Design of a service robot with dual manipulators and stereo vision (Dual Manipulator와 Stereo Vision을 이용한 서비스 로봇)

  • Lee, Dae-Hui;Lee, Hui-Guk;U, Gyeong-Seok;Ham, Sang-Hwa;Park, Ju-Hyeon;Lee, Seok-Gyu
    • Proceedings of the KIEE Conference
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    • 2003.11c
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    • pp.743-746
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    • 2003
  • The service robot, with stereo vision system and dual manipulator of four degree of freedom, has been designed. A fuzzy controller has been implemented for effectively actuating the manipulator of the robot. The fuzzy controller determines operation mode(single or dual manipulators) and orientation from the information of object position and distance. Through actual experimentation, we have confirmed that the robot system with human-like movement of grabber has been executed a rapid and effective motion.

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Fusing Algorithm for Dense Point Cloud in Multi-view Stereo (Multi-view Stereo에서 Dense Point Cloud를 위한 Fusing 알고리즘)

  • Han, Hyeon-Deok;Han, Jong-Ki
    • Journal of Broadcast Engineering
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    • v.25 no.5
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    • pp.798-807
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    • 2020
  • As technologies using digital camera have been developed, 3D images can be constructed from the pictures captured by using multiple cameras. The 3D image data is represented in a form of point cloud which consists of 3D coordinate of the data and the related attributes. Various techniques have been proposed to construct the point cloud data. Among them, Structure-from-Motion (SfM) and Multi-view Stereo (MVS) are examples of the image-based technologies in this field. Based on the conventional research, the point cloud data generated from SfM and MVS may be sparse because the depth information may be incorrect and some data have been removed. In this paper, we propose an efficient algorithm to enhance the point cloud so that the density of the generated point cloud increases. Simulation results show that the proposed algorithm outperforms the conventional algorithms objectively and subjectively.

Nominal Wake Measurement for KVLCC2 Model Ship in Regular Head Waves at Fully Loaded Condition (선수 규칙파 중 만재상태의 KVLCC2 모형선 공칭반류 계측)

  • Kim, Ho;Jang, Jinho;Hwang, Seunghyun;Kim, Myoung-Soo;Hayashi, Yoshiki;Toda, Yasuyuki
    • Journal of the Society of Naval Architects of Korea
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    • v.53 no.5
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    • pp.371-379
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    • 2016
  • In the ship design process, ship motion and propulsion performance in sea waves became very important issues. Especially, prediction of ship propulsion performance during real operation is an important challenge to ship owners for economic operation in terms of fuel consumption and route-time evaluation. Therefore, it should be considered in the early design stages of the ship. It is thought that the averaged value and fluctuation of effective inflow velocity to the propeller have a great effect on the propulsion performance in waves. However, even for the nominal velocity distribution, very few results have been presented due to some technical difficulties in experiments. In this study, flow measurements near the propeller plane using a stereo PIV system were performed. Phase-averaged flow fields on the propeller plane of a KVLCC2 model ship in waves were measured in the towing tank by using the stereo PIV system and a phase synchronizer with heave motion. The experiment was carried out at fully loaded condition with making surge, heave and pitch motions free at a forward speed corresponding to Fr=0.142 (Re=2.55×106) in various head waves and calm water condition. The phase averaged nominal velocity fields obtained from the measurements are discussed with respect to effects of wave orbital velocity and ship motion. The low velocity region is affected by pressure gradient and ship motion.

Distance Measuring Method for Motion Capture Animation (모션캡쳐 애니메이션을 위한 거리 측정방법)

  • Lee, Heei-Man;Seo, Jeong-Man;Jung, Suun-Key
    • The KIPS Transactions:PartB
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    • v.9B no.1
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    • pp.129-138
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    • 2002
  • In this paper, a distance measuring algorithm for motion capture using color stereo camera is proposed. The color markers attached on articulations of an actor are captured by stereo color video cameras, and color region which has the same color of the marker's color in the captured images is separated from the other colors by finding dominant wavelength of colors. Color data in RGB (red, green, blue) color space is converted into CIE (Commission Internationale del'Eclairage) color space for the purpose of calculating wavelength. The dominant wavelength is selected from histogram of the neighbor wavelengths. The motion of the character in the cyber space is controlled by a program using the distance information of the moving markers.

Real-time Humanoid Robot Trajectory Estimation and Navigation with Stereo Vision (스테레오 비전을 이용한 실시간 인간형 로봇 궤적 추출 및 네비게이션)

  • Park, Ji-Hwan;Jo, Sung-Ho
    • Journal of KIISE:Software and Applications
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    • v.37 no.8
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    • pp.641-646
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    • 2010
  • This paper presents algorithms for real-time navigation of a humanoid robot with a stereo vision but no other sensors. Using the algorithms, a robot can recognize its 3D environment by retrieving SIFT features from images, estimate its position through the Kalman filter, and plan its path to reach a destination avoiding obstacles. Our approach focuses on estimating the robot’s central walking path trajectory rather than its actual walking motion by using an approximate model. This strategy makes it possible to apply mobile robot localization approaches to humanoid robot localization. Simple collision free path planning and motion control enable the autonomous robot navigation. Experimental results demonstrate the feasibility of our approach.