Download or read book Continuous Models for Cameras and Inertial Sensors written by Hannes Ovrén and published by Linköping University Electronic Press. This book was released on 2018-07-25 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt: Using images to reconstruct the world in three dimensions is a classical computer vision task. Some examples of applications where this is useful are autonomous mapping and navigation, urban planning, and special effects in movies. One common approach to 3D reconstruction is ”structure from motion” where a scene is imaged multiple times from different positions, e.g. by moving the camera. However, in a twist of irony, many structure from motion methods work best when the camera is stationary while the image is captured. This is because the motion of the camera can cause distortions in the image that lead to worse image measurements, and thus a worse reconstruction. One such distortion common to all cameras is motion blur, while another is connected to the use of an electronic rolling shutter. Instead of capturing all pixels of the image at once, a camera with a rolling shutter captures the image row by row. If the camera is moving while the image is captured the rolling shutter causes non-rigid distortions in the image that, unless handled, can severely impact the reconstruction quality. This thesis studies methods to robustly perform 3D reconstruction in the case of a moving camera. To do so, the proposed methods make use of an inertial measurement unit (IMU). The IMU measures the angular velocities and linear accelerations of the camera, and these can be used to estimate the trajectory of the camera over time. Knowledge of the camera motion can then be used to correct for the distortions caused by the rolling shutter. Another benefit of an IMU is that it can provide measurements also in situations when a camera can not, e.g. because of excessive motion blur, or absence of scene structure. To use a camera together with an IMU, the camera-IMU system must be jointly calibrated. The relationship between their respective coordinate frames need to be established, and their timings need to be synchronized. This thesis shows how to automatically perform this calibration and synchronization, without requiring e.g. calibration objects or special motion patterns. In standard structure from motion, the camera trajectory is modeled as discrete poses, with one pose per image. Switching instead to a formulation with a continuous-time camera trajectory provides a natural way to handle rolling shutter distortions, and also to incorporate inertial measurements. To model the continuous-time trajectory, many authors have used splines. The ability for a spline-based trajectory to model the real motion depends on the density of its spline knots. Choosing a too smooth spline results in approximation errors. This thesis proposes a method to estimate the spline approximation error, and use it to better balance camera and IMU measurements, when used in a sensor fusion framework. Also proposed is a way to automatically decide how dense the spline needs to be to achieve a good reconstruction. Another approach to reconstruct a 3D scene is to use a camera that directly measures depth. Some depth cameras, like the well-known Microsoft Kinect, are susceptible to the same rolling shutter effects as normal cameras. This thesis quantifies the effect of the rolling shutter distortion on 3D reconstruction, depending on the amount of motion. It is also shown that a better 3D model is obtained if the depth images are corrected using inertial measurements. Att använda bilder för att återskapa världen omkring oss i tre dimensioner är ett klassiskt problem inom datorseende. Några exempel på användningsområden är inom navigering och kartering för autonoma system, stadsplanering och specialeffekter för film och spel. En vanlig metod för 3D-rekonstruktion är det som kallas ”struktur från rörelse”. Namnet kommer sig av att man avbildar (fotograferar) en miljö från flera olika platser, till exempel genom att flytta kameran. Det är därför något ironiskt att många struktur-från-rörelse-algoritmer får problem om kameran inte är stilla när bilderna tas, exempelvis genom att använda sig av ett stativ. Anledningen är att en kamera i rörelse ger upphov till störningar i bilden vilket ger sämre bildmätningar, och därmed en sämre 3D-rekonstruktion. Ett välkänt exempel är rörelseoskärpa, medan ett annat är kopplat till användandet av en elektronisk rullande slutare. I en kamera med rullande slutare avbildas inte alla pixlar i bilden samtidigt, utan istället rad för rad. Om kameran rör på sig medan bilden tas uppstår därför störningar i bilden som måste tas om hand om för att få en bra rekonstruktion. Den här avhandlingen berör robusta metoder för 3D-rekonstruktion med rörliga kameror. En röd tråd inom arbetet är användandet av en tröghetssensor (IMU). En IMU mäter vinkelhastigheter och accelerationer, och dessa mätningar kan användas för att bestämma hur kameran har rört sig över tid. Kunskap om kamerans rörelse ger möjlighet att korrigera för störningar på grund av den rullande slutaren. Ytterligare en fördel med en IMU är att den ger mätningar även i de fall då en kamera inte kan göra det. Exempel på sådana fall är vid extrem rörelseoskärpa, starkt motljus, eller om det saknas struktur i bilden. Om man vill använda en kamera tillsammans med en IMU så måste dessa kalibreras och synkroniseras: relationen mellan deras respektive koordinatsystem måste bestämmas, och de måste vara överens om vad klockan är. I den här avhandlingen presenteras en metod för att automatiskt kalibrera och synkronisera ett kamera-IMU-system utan krav på exempelvis kalibreringsobjekt eller speciella rörelsemönster. I klassisk struktur från rörelse representeras kamerans rörelse av att varje bild beskrivs med en kamera-pose. Om man istället representerar kamerarörelsen som en tidskontinuerlig trajektoria kan man på ett naturligt sätt hantera problematiken kring rullande slutare. Det gör det också enkelt att införa tröghetsmätningar från en IMU. En tidskontinuerlig kameratrajektoria kan skapas på flera sätt, men en vanlig metod är att använda sig av så kallade splines. Förmågan hos en spline att representera den faktiska kamerarörelsen beror på hur tätt dess knutar placeras. Den här avhandlingen presenterar en metod för att uppskatta det approximationsfel som uppkommer vid valet av en för gles spline. Det uppskattade approximationsfelet kan sedan användas för att balansera mätningar från kameran och IMU:n när dessa används för sensorfusion. Avhandlingen innehåller också en metod för att bestämma hur tät en spline behöver vara för att ge ett gott resultat. En annan metod för 3D-rekonstruktion är att använda en kamera som också mäter djup, eller avstånd. Vissa djupkameror, till exempel Microsoft Kinect, har samma problematik med rullande slutare som vanliga kameror. I den här avhandlingen visas hur den rullande slutaren i kombination med olika typer och storlekar av rörelser påverkar den återskapade 3D-modellen. Genom att använda tröghetsmätningar från en IMU kan djupbilderna korrigeras, vilket visar sig ge en bättre 3D-modell.

Download or read book An Invitation to 3 D Vision written by Yi Ma and published by Springer Science & Business Media. This book was released on 2012-11-06 with total page 542 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces the geometry of 3-D vision, that is, the reconstruction of 3-D models of objects from a collection of 2-D images. It details the classic theory of two view geometry and shows that a more proper tool for studying the geometry of multiple views is the so-called rank consideration of the multiple view matrix. It also develops practical reconstruction algorithms and discusses possible extensions of the theory.

Download or read book Modelling and Simulation for Autonomous Systems written by Jan Hodicky and published by Springer. This book was released on 2016-10-17 with total page 415 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the thoroughly refereed post-workshop proceedings of the Third International Workshop on Modelling and Simulation for Autonomous Systems, MESAS 2016, held in Rome, Italy, in June 2016. The 33 revised full papers included in the volume ware carefully reviewed and selected from 38 submissions. They are organized in the following topical sections: human machine integration and interfaces; autonomous systems and MS frameworks and architectures; autonomous systems principles and algorithms; unmanned aerial vehicles and remotely piloted aircraft systems; modelling and simulation application.

Download or read book Modern Computer Architecture and Organization written by Jim Ledin and published by Packt Publishing Ltd. This book was released on 2022-05-04 with total page 667 pages. Available in PDF, EPUB and Kindle. Book excerpt: A no-nonsense, practical guide to current and future processor and computer architectures that enables you to design computer systems and develop better software applications across a variety of domains Key FeaturesUnderstand digital circuitry through the study of transistors, logic gates, and sequential logicLearn the architecture of x86, x64, ARM, and RISC-V processors, iPhones, and high-performance gaming PCsStudy the design principles underlying the domains of cybersecurity, bitcoin, and self-driving carsBook Description Are you a software developer, systems designer, or computer architecture student looking for a methodical introduction to digital device architectures, but are overwhelmed by the complexity of modern systems? This step-by-step guide will teach you how modern computer systems work with the help of practical examples and exercises. You'll gain insights into the internal behavior of processors down to the circuit level and will understand how the hardware executes code developed in high-level languages. This book will teach you the fundamentals of computer systems including transistors, logic gates, sequential logic, and instruction pipelines. You will learn details of modern processor architectures and instruction sets including x86, x64, ARM, and RISC-V. You will see how to implement a RISC-V processor in a low-cost FPGA board and write a quantum computing program and run it on an actual quantum computer. This edition has been updated to cover the architecture and design principles underlying the important domains of cybersecurity, blockchain and bitcoin mining, and self-driving vehicles. By the end of this book, you will have a thorough understanding of modern processors and computer architecture and the future directions these technologies are likely to take. What you will learnUnderstand the fundamentals of transistor technology and digital circuitsExplore the concepts underlying pipelining and superscalar processingImplement a complete RISC-V processor in a low-cost FPGAUnderstand the technology used to implement virtual machinesLearn about security-critical computing applications like financial transaction processingGet up to speed with blockchain and the hardware architectures used in bitcoin miningExplore the capabilities of self-navigating vehicle computing architecturesWrite a quantum computing program and run it on a real quantum computerWho this book is for This book is for software developers, computer engineering students, system designers, reverse engineers, and anyone looking to understand the architecture and design principles underlying modern computer systems: ranging from tiny, embedded devices to warehouse-size cloud server farms. A general understanding of computer processors is helpful but not required.

Download or read book Proceedings of the 8th International Conference on Computational Science and Technology written by Rayner Alfred and published by Springer Nature. This book was released on 2022-03-25 with total page 887 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers the proceedings of the Seventh International Conference on Computational Science and Technology (ICCST 2021), held in Labuan, Malaysia, on 28–29 August 2021. The respective contributions offer practitioners and researchers a range of new computational techniques and solutions, identify emerging issues, and outline future research directions, while also showing them how to apply the latest large-scale, high-performance computational methods.

Download or read book Computer Vision ACCV 2010 Workshops written by Reinhard Koch and published by Springer. This book was released on 2011-09-15 with total page 467 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two-volume set LNCS 6468-6469 contains the carefully selected and reviewed papers presented at the eight workshops that were held in conjunction with the 10th Asian Conference on Computer Vision, in Queenstown, New Zealand, in November 2010. From a total of 167 submissions to all workshops, 89 papers were selected for publication. The contributions are grouped together according to the main workshops topics, which were: computational photography and aesthetics; computer vision in vehicle technology: from Earth to Mars; electronic cultural heritage; subspace based methods; video event categorization, tagging and retrieval; visual surveillance; application of computer vision for mixed and augmented reality.

Download or read book Road Condition Estimation with Data Mining Methods using Vehicle Based Sensors written by Masino, Johannes and published by KIT Scientific Publishing. This book was released on 2021-03-31 with total page 234 pages. Available in PDF, EPUB and Kindle. Book excerpt: The work provides novel methods to process inertial sensor and acoustic sensor data for road condition estimation and monitoring with application in vehicles, which serve as sensor platforms. Furthermore, methods are introduced to combine the results from various vehicles for a more reliable estimation.

Download or read book PROCEEDINGS 4th International Congress on Science and Technology for the Safeguard of Cultural Heritage in the Mediterranean Basin VOL I written by and published by Angelo Ferrari. This book was released on with total page 630 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Proceedings of 2023 Chinese Intelligent Automation Conference written by Zhidong Deng and published by Springer Nature. This book was released on 2023-10-24 with total page 854 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book presents selected research papers from the 2023 Chinese Intelligent Automation Conference (CIAC2023), held in Nanjing, China, on October 2-5, 2023. It covers a wide range of topics including intelligent control, robotics, artificial intelligence, pattern recognition, unmanned systems, IoT, and machine learning. It includes original research and the latest advances in the field of intelligent automation. Engineers and researchers from academia, industry, and government can gain valuable insights into solutions combining ideas from multiple disciplines in this field.

Download or read book Artificial Intelligence in Higher Education written by Prathamesh Padmakar Churi and published by CRC Press. This book was released on 2022-08-29 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: The global adoption of technology in education is transforming the way we teach and learn. Artificial Intelligence is one of the disruptive techniques to customize the experience of different learning groups, teachers, and tutors. This book offers knowledge in intelligent teaching/learning systems, and advances in e-learning and assessment systems. The book highlights the broad field of artificial intelligence applications in education, regarding any type of artificial intelligence that is correlated with education. It discusses learning methodologies, intelligent tutoring systems, intelligent student guidance and assessments, intelligent education chatbots, and artificial tutors and presents the practicality and applicability implications of AI in education. The book offers new and current research along with case studies showing the latest techniques and educational activities. The book will find interest with academicians which includes teachers, students of various disciplines, higher education policymakers who believe in transforming the education industry, and research scholars who are pursuing their Ph.D. or Post Doc. in the field of Education Technology, Education, and Learning, etc. and those working in the area of Education Technology and Artificial Intelligence such industry professionals in education management and e-learning companies.

Download or read book Computer Vision ECCV 2018 written by Vittorio Ferrari and published by Springer. This book was released on 2018-10-06 with total page 880 pages. Available in PDF, EPUB and Kindle. Book excerpt: The sixteen-volume set comprising the LNCS volumes 11205-11220 constitutes the refereed proceedings of the 15th European Conference on Computer Vision, ECCV 2018, held in Munich, Germany, in September 2018.The 776 revised papers presented were carefully reviewed and selected from 2439 submissions. The papers are organized in topical sections on learning for vision; computational photography; human analysis; human sensing; stereo and reconstruction; optimization; matching and recognition; video attention; and poster sessions.

Download or read book IoT Sensor Based Activity Recognition written by Md Atiqur Rahman Ahad and published by Springer Nature. This book was released on 2020-07-30 with total page 214 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offer clear descriptions of the basic structure for the recognition and classification of human activities using different types of sensor module and smart devices in e.g. healthcare, education, monitoring the elderly, daily human behavior, and fitness monitoring. In addition, the complexities, challenges, and design issues involved in data collection, processing, and other fundamental stages along with datasets, methods, etc., are discussed in detail. The book offers a valuable resource for readers in the fields of pattern recognition, human–computer interaction, and the Internet of Things.

Download or read book Advanced Sensor Technology written by Ahmed Barhoum and published by Elsevier. This book was released on 2022-11-16 with total page 970 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advanced Sensor Technology: Biomedical, Environmental, and Construction Applications introduces readers to the past, present and future of sensor technology and its emerging applications in a wide variety of different fields. Organized in five parts, the book covers historical context and future outlook of sensor technology development and emerging applications, the use of sensors throughout many applications in healthcare, health and life science research, public health and safety, discusses chemical sensors used in environmental monitoring and remediation of contaminants, highlights the use of sensors in food, agriculture, fire prevention, automotive and robotics, and more. Final sections look forward at the challenges that must be overcome in the development and use of sensing technology as well as their commercial use, making this book appropriate for the interdisciplinary community of researchers and practitioners interested in the development of sensor technologies. - Covers a range of environmental applications such as protection and improvement of water, air, soil, plants, and agriculture and food production; biomedical applications including detection of viruses, genes, hormones, proteins, bacteria, and cancer, and applications in construction such as fire protection, automotive, robotics, food packing and micro-machining - Provides an outlook on opportunities and challenges for the fabrication and manufacturing of sensors in industry and their applicability for industrial uses - Demonstrates how cutting-edge developments in sensing technology translate into real-world innovations in a range of industry sectors

Download or read book Recent Advances in Robotics and Automation written by Gourab Sen Gupta and published by Springer. This book was released on 2013-05-23 with total page 342 pages. Available in PDF, EPUB and Kindle. Book excerpt: There isn’t a facet of human life that has not been touched and influenced by robots and automation. What makes robots and machines versatile is their computational intelligence. While modern intelligent sensors and powerful hardware capabilities have given a huge fillip to the growth of intelligent machines, the progress in the development of algorithms for smart interaction, collaboration and pro-activeness will result in the next quantum jump. This book deals with the recent advancements in design methodologies, algorithms and implementation techniques to incorporate intelligence in robots and automation systems. Several articles deal with navigation, localization and mapping of mobile robots, a problem that engineers and researchers are grappling with all the time. Fuzzy logic, neural networks and neuro-fuzzy based techniques for real world applications have been detailed in a few articles. This edited volume is targeted to present the latest state-of-the-art computational intelligence techniques in Robotics and Automation. It is a compilation of the extended versions of the very best papers selected from the many that were presented at the 5th International Conference on Automation, Robotics and Applications (ICARA 2011) which was held in Wellington, New Zealand from 6-8 December, 2011. Scientists and engineers who work with robots and automation systems will find this book very useful and stimulating.

Download or read book Pattern Recognition and Artificial Intelligence written by Mounîm El Yacoubi and published by Springer Nature. This book was released on 2022-05-28 with total page 537 pages. Available in PDF, EPUB and Kindle. Book excerpt: This two-volume set constitutes the proceedings of the Third International Conference on Pattern Recognition and Artificial Intelligence, ICPRAI 2022, which took place in Paris, France, in June 2022. The 98 full papers presented were carefully reviewed and selected from 192 submissions. The papers present new advances in the field of pattern recognition and artificial intelligence. They are organized in topical sections as follows: pattern recognition; computer vision; artificial intelligence; big data.

Download or read book Proceedings of International Conference on Computational Intelligence and Emerging Power System written by Ramesh C. Bansal and published by Springer Nature. This book was released on 2021-12-13 with total page 373 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers outstanding research papers presented in the International Conference on Computational Intelligence and Emerging Power System (ICCIPS 2021), held on March 9-10, 2021, at Engineering College Ajmer. ICCIPS 2021 is jointly organized by the Department of CSE and Department of EE, Engineering College Ajmer, Rajasthan, India. The topics covered in the book are collective intelligence, soft computing, optimization, cloud computing, machine learning, intelligent software, robotics, data science, data security, big data analytics, natural language processing, renewable energy, signal processing, optimization methods for power system, smart grid, micro-grid, energy management, power system, monitoring system, load management, and distributed generation.

Download or read book Grid and Pervasive Computing Workshops written by Mika Rautiainen and published by Springer Science & Business Media. This book was released on 2012-01-18 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the carefully refereed post-conference proceedings of two International Workshops: Self-Managing Solutions for Smart Environments, S3E 2011; and the workshop on Health and Well-being Technologies and Services for Elderly, HWTS 2011; as well as a Doctoral Colloquium, held in conjunction with, GPC 2011, in Oulu, Finland, in May 2011. The 19 revised full papers presented together with 1 keynote lecture were carefully revised and selected from 26 submissions and focus on the topics self-managing solutions for smart environments; health and well-being technologies, and services for elderly. The topics of the doctoral colloquium papers had a wide scope and they represented different viewpoints and sub-disciplines inside the ICT field.