This paper describes ongoing work into a portable mobility aid, worn by the visually impaired. The system uses stereo vision and sonar sensors for obstacle avoidance and recognition of kerbs. Because the device is carried, the user is given freedom of movement over kerbs, stairs and rough ground, not traversable with a wheeled aid. Motion of the sensor due to the walking action is measured usin...

This survey is mainly motivated by the increased availability and use of panoramic image acquisition devices, in computer vision and various of its applications. Different technologies and different computational models thereof exist and algorithms and theoretical studies for geometric computer vision (“structure-from-motion”) are often re-developed without highlighting common underlying princi...

Information fusion algorithms have been successful in many vision tasks such as stereo, motion estimation, registration and robot localization. Stereo and motion image analysis are intimately connected and can provide complementary information to obtain robust estimates of scene structure and motion. We present an information fusion based approach for multi-camera and multi-body structure and m...

Image registration is a very important problem in computer vision and medical image processing. Numerous algorithms for registering single and multi-modal image data have been reported in these areas. Robustness as well as computational efficiency are prime factors of importance in image data registration. In this paper, a robust/reliable and efficient algorithm for estimating the transformatio...

FACULTY OF ENGINEERING AND APPLIED SCIENCE INSTITUTE OF SOUND AND VIBRATION RESEARCH Doctor of Philosophy VISUAL ACUITY, EYE MOVEMENTS, THE ILLUSION OF MOTION AND MOTION SICKNESS WITH OPTOKINETIC STIMULI by Nicholas Andrew Webb Motion sickness and the illusion of self-motion (vection) can be induced by the use of an optokinetic drum (a black and white striped cylinder which rotates around a sea...

Image registration is a very important problem in computer vision and medical image processing. Numerous algorithms for registering multi-modal image data have been reported in these areas. Robustness as well as computational e ciency are prime factors of importance in image data registration. In this paper, a robust and e cient algorithm for estimating the transformation between two image data...

Estimating motion in scenes containing multiple motions remains a di cult problem for computer vision. Here we describe a novel recurrent network architecture which solves this problem by simultaneously estimating motion and segmenting the scene. The network is comprised of locally connected units which carry out simple calculations in parallel. We present simulation results illustrating the su...

Neurons in sensory systems encode and transmit information about attributes of the environment. Much of the information transmitted by spiking neurons appears to be encoded in the rate at which they fire. This rate necessarily has a positive value. In this paper, the implication of this constraint for models of motion detection is examined. The detection of image motion is represented mathemati...

Estimating motion in scenes containing multiple motions remains a diicult problem for computer vision. Here we describe a novel recurrent network architecture which solves this problem by simultaneously estimating motion and segmenting the scene. The network is comprised of locally connected units which carry out simple calculations in parallel. We present simulation results illustrating the su...

Joint errors are inevitable in robot manipulation. These uncertainties propagate to give rise to translational and orientational errors in the position and orientation of the robot end-effector. The displacement of the active vision head mounted on the robot endeffector produces distortion of the projected object on the image. Upon active visual inspection, the observed dimension of a mechanica...