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Probabilistic Models for 3D Urban Scene Understanding from Movable Platforms

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Book Series: Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie ISSN: 16134214 ISBN: 9783731500810 Year: Volume: 025 Pages: V, 162 p. DOI: 10.5445/KSP/1000036064 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-30 20:01:58
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This work is a contribution to understanding multi-object traffic scenes from video sequences. All data is provided by a camera system which is mounted on top of the autonomous driving platform AnnieWAY. The proposed probabilistic generative model reasons jointly about the 3D scene layout as well as the 3D location and orientation of objects in the scene. In particular, the scene topology, geometry as well as traffic activities are inferred from short video sequences.

Omnidirectional Stereo Vision for Autonomous Vehicles

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Book Series: Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie ISSN: 16134214 ISBN: 9783731503576 Year: Volume: 032 Pages: XV, 125 p. DOI: 10.5445/KSP/1000046298 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-30 20:01:57
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Environment perception with cameras is an important requirement for many applications for autonomous vehicles and robots. This work presents a stereoscopic omnidirectional camera system for autonomous vehicles which resolves the problem of a limited field of view and provides a 360° panoramic view of the environment. We present a new projection model for these cameras and show that the camera setup overcomes major drawbacks of traditional perspective cameras in many applications.

Human Pose Estimation with Implicit Shape Models

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Book Series: Schriftenreihe Automatische Sichtprüfung und Bildverarbeitung ISSN: 18665934 ISBN: 9783731501848 Year: Volume: 6 Pages: XVIII, 264 p. DOI: 10.5445/KSP/1000039083 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-30 20:01:58
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This work presents a new approach for estimating 3D human poses based on monocular camera information only. For this, the Implicit Shape Model is augmented by new voting strategies that allow to localize 2D anatomical landmarks in the image. The actual 3D pose estimation is then formulated as a Particle Swarm Optimization (PSO) where projected 3D pose hypotheses are compared with the generated landmark vote distributions.

Image Analysis and Evaluation of Cylinder Bore Surfaces in Micrographs

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Book Series: Forschungsberichte aus der Industriellen Informationstechnik / Institut für Industrielle Informationstechnik (IIIT), Karlsruher Institut für Technologie ISSN: 21906629 ISBN: 9783731502395 Year: Volume: 9 Pages: II, 115 p. DOI: 10.5445/KSP/1000041878 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-30 20:02:01
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This work presents two image-based inspection approaches for the quality evaluation of cylinder bore surfaces. In the first algorithm, metal folds on plateau-honed surfaces are inspected with scanning electron microscopy. An edge-aware structure tensor is proposed for feature extraction and localization of surface defects. The second algorithm uses a morphgraphical method for detecting graphite grains in optical micrographs. Based on the inspection results, quality parameters are proposed.

Compact Environment Modelling from Unconstrained Camera Platforms

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Book Series: Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie ISSN: 16134214 ISBN: 9783731508014 Year: Volume: 040 Pages: VII, 129 p. DOI: 10.5445/KSP/1000083235 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-28 18:37:01
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Mobile robotic systems need to perceive their surroundings in order to act independently. In this work a perception framework is developed which interprets the data of a binocular camera in order to transform it into a compact, expressive model of the environment. This model enables a mobile system to move in a targeted way and interact with its surroundings. It is shown how the developed methods also provide a solid basis for technical assistive aids for visually impaired people.

Tracking Extended Objects with Active Models and Negative Measurements

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Book Series: Karlsruhe Series on Intelligent Sensor-Actuator-Systems / Karlsruher Institut für Technologie, Intelligent Sensor-Actuator-Systems Laboratory ISSN: 18673813 ISBN: 9783731508779 Year: Volume: 21 Pages: XIX, 179 p. DOI: 10.5445/KSP/1000088267 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-30 20:01:59
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Extended object tracking deals with estimating the shape and pose of an object based on noisy point measurements. This task is not straightforward, as we may be faced with scarce low-quality measurements, little a priori information, or we may be unable to observe the entire target. This work aims to address these challenges by incorporating ideas from active contours and exploiting information from negative measurements, which tell us where the target cannot be.

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