This work deals with the problem of estimating the trajectory of an autonomous rover by passive stereo vision only (visual odometry). The proposed method relies on the tracking of pointwise image features and on the estimation of the robot motion by robust bundle adjustment of the stereo matched features, before and after the motion. Preliminary results from the application of the algorithm bot...

This thesis describes a method of vision based station keeping and docking for floating robots. Due to the motion disturbances in the environment, these tasks are important to keep the vehicle stabilized relative to an external reference frame. A vision-based tracking system is used to measure the image deformations, as the vehicle moves with respect to a docking station. A planar surface is ch...

⎯ This paper is to present vision based motion analysis for human-robot interaction, which analyzes camera motion and human motion. Motion of camera is compensated by comparing edge features among consecutive image frames. Candidate regions of human motion are found by differencing between transformed t image and t-1 image. Human motion is finally decided by image features and motion analysis. ...

This paper presents a vision tracking system, based on the robot motion and vision information. For mobile robots, it is difficult to collect continuous vision information while they are in motion due to the unstable vision information. To solve this problem, the proposed vision tracking system estimates the robot position relative to a target and rotates a camera towards the target based on th...

To cope with the huge amount of visual data in the environment, foveal sensing is not only an elegant biological solution, but also an appropriatemechanism in computer-based vision of artificial agents such as robots. An extremely important visual behavior in active vision systems is that of actively tracking moving targets, which is a problem closely related with foveal vision. The work descri...

Rapid eye motion, or so called saccade, is a very quick eye motion which always occurs regardless of our intention. Although the line of sight (LOS) with saccade tracking is expected to be used for a new type of computer-human interface, it is impossible to track it using the conventional video camera, because of its speed which is often up to 600 degrees per second. Vision Chip is an intellige...

In active vision scenarios, the motion of the observer induces an apparent motion in the image plane. One approach for camera motion compensation is the use of panoramic images, representing the scene at the different positions of the camera. In this work, an approach to build spherical panoramic views from a pan-tilt camera is described, which is based on background updating techniques. Intere...

The purpose of this study was to improve the accuracy of real-time ego-motion tracking through inertial sensor and vision sensor fusion. Due to low sampling rates supported by web-based vision sensor and accumulation of errors in inertial sensors, ego-motion tracking with vision sensors is commonly afflicted by slow updating rates, while motion tracking with inertial sensor suffers from rapid d...

This paper presents Monte-Carlo localization (MCL) [1] with a mixture proposal distribution for mobile robots with stereo vision. We combine filtering with the Scale Invariant Feature Transform (SIFT) image descriptor to accurately and efficiently estimate the robot’s location given a map of 3D point landmarks. Our approach completely decouples the motion model from the robot’s mechanics and is...

When underwater vehicles perform navigation close to the ocean floor, computer vision techniques can be applied to obtain quite accurate motion estimates. The most crucial step in the vision-based estimation of the vehicle motion consists on detecting matchings between image pairs. Here we propose the extensive use of texture analysis as a tool to ameliorate the correspondence problem in underw...