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Instantaneous 3D motion from image derivatives using the Least Trimmed Square regression / Fadi Dornaika in Pattern recognition letters, vol 30 n° 5 (April 2009)  

Public [article]  inPattern recognition letters > vol 30 n° 5 (April 2009) . - pp 535 - 543 Titre : Instantaneous 3D motion from image derivatives using the Least Trimmed Square regression Type de document : Article/Communication Auteurs : Fadi Dornaika , Auteur ; Angel D. Sappa, Auteur Année de publication : 2009 Projets : 2-Pas d'info accessible - article non ouvert / Article en page(s) : pp 535 - 543 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image [Termes IGN] méthode robuste [Termes IGN] régression Résumé : (auteur) This paper presents a new technique to the instantaneous 3D motion estimation. The main contributions are as follows. First, we show that the 3D camera or scene velocity can be retrieved from image derivatives only assuming that the scene contains a dominant plane. Second, we propose a new robust algorithm that simultaneously provides the Least Trimmed Square solution and the percentage of inliers—the non-contaminated data. Experiments on both synthetic and real image sequences demonstrated the effectiveness of the developed method. Those experiments show that the new robust approach can outperform classical robust schemes. Numéro de notice : A2009-602 Affiliation des auteurs : MATIS+Ext (1993-2011) Thématique : IMAGERIE/INFORMATIQUE/MATHEMATIQUE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.patrec.2008.12.006 Date de publication en ligne : 24/12/2008 En ligne : https://doi.org/10.1016/j.patrec.2008.12.006 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=95753 [article]

Rigid and non-rigid face motion tracking by aligning texture maps and stereo 3D models / Fadi Dornaika in Pattern recognition letters, vol 28 n° 15 (1 November 2007)  

Public [article]  inPattern recognition letters > vol 28 n° 15 (1 November 2007) Titre : Rigid and non-rigid face motion tracking by aligning texture maps and stereo 3D models Type de document : Article/Communication Auteurs : Fadi Dornaika , Auteur ; Angel D. Sappa, Auteur Année de publication : 2007 Note générale : bibliographie This work was supported in part by the MEC project TRA2004-06702/AUT and The Ramón y Cajal Program. Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image [Termes IGN] données localisées 3D [Termes IGN] méthode robuste [Termes IGN] poursuite de cible [Termes IGN] superposition d'images Résumé : (auteur) Accurate rigid and non-rigid tracking of faces is a challenging task in computer vision. Recently, appearance-based 3D face tracking methods have been proposed. These methods can successfully tackle the image variability and drift problems. However, they may fail to provide accurate out-of-plane face motions since they are not very sensitive to out-of-plane motion variations. In this paper, we present a framework for fast and accurate 3D face and facial action tracking. Our proposed framework retains the strengths of both appearance and 3D data-based trackers. We combine an adaptive appearance model with an online stereo-based 3D model. We provide experiments and performance evaluation which show the feasibility and usefulness of the proposed approach. Numéro de notice : A2007-688 Affiliation des auteurs : MATIS+Ext (1993-2011) Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.patrec.2007.06.011 En ligne : https://doi.org/10.1016/j.patrec.2007.06.011 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102800 [article]

Efficient on-board stereo vision pose estimation / Angel D. Sappa (2007)  

Public Titre : Efficient on-board stereo vision pose estimation Type de document : Article/Communication Auteurs : Angel D. Sappa, Auteur ; Fadi Dornaika , Auteur ; David Geronimo, Auteur ; Antonio Lopez, Auteur Editeur : Berlin, Heidelberg, Vienne, New York, ... : Springer Année de publication : 2007 Collection : Lecture notes in Computer Science, ISSN 0302-9743 num. 4739 Conférence : EUROCAST 2007, 11th International Conference on Computer Aided Systems Theory 12/02/2007 16/02/2007 Las Palmas de Gran Canaria Espagne Importance : pp 1183 - 1190 Format : 16 x 24 cm Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique [Termes IGN] détection d'objet [Termes IGN] estimation de pose [Termes IGN] instrument embarqué [Termes IGN] piéton [Termes IGN] vision par ordinateur [Termes IGN] vision stéréoscopique Résumé : (auteur) This paper presents an efficient technique for real time estimation of on-board stereo vision system pose. The whole process is performed in the Euclidean space and consists of two stages. Initially, a compact representation of the original 3D data points is computed. Then, a RANSAC based least squares approach is used for fitting a plane to the 3D road points. Fast RANSAC fitting is obtained by selecting points according to a probability distribution function that takes into account the density of points at a given depth. Finally, stereo camera position and orientation-pose-is computed relative to the road plane. The proposed technique is intended to be used on driver assistance systems for applications such as obstacle or pedestrian detection. A real time performance is reached. Experimental results on several environments and comparisons with a previous work are presented. Numéro de notice : C2007-058 Affiliation des auteurs : MATIS+Ext (1993-2011) Thématique : IMAGERIE Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : 10.1007/978-3-540-75867-9_148 En ligne : https://doi.org/10.1007/978-3-540-75867-9_148 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102616

Real-time vehicle ego-motion using stereo pairs and particle filters / Fadi Dornaika (2007)  

Public contenu dans Image Analysis and Recognition, 4th International Conference, ICIAR 2007, Montreal, Canada, August 2007 / Mohamed Kamel (2007)   Titre : Real-time vehicle ego-motion using stereo pairs and particle filters Type de document : Article/Communication Auteurs : Fadi Dornaika , Auteur ; Angel D. Sappa, Auteur Editeur : Berlin, Heidelberg, Vienne, New York, ... : Springer Année de publication : 2007 Collection : Lecture notes in Computer Science, ISSN 0302-9743 num. 4633 Conférence : ICIAR 2007, 4th International Conference on Image Analysis and Recognition 22/08/2007 24/08/2007 Montréal Québec - Canada Importance : pp 469 - 480 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique [Termes IGN] couple stéréoscopique [Termes IGN] estimation de pose [Termes IGN] temps réel [Termes IGN] vision par ordinateur Résumé : (auteur) This paper presents a direct and stochastic technique for real time estimation of on board camera position and orientation—the ego-motion problem. An on board stereo vision system is used. Unlike existing works, which rely on feature extraction either in the image domain or in 3D space, our proposed approach directly estimates the unknown parameters from the brightness of a stream of stereo pairs. The pose parameters are tracked using the particle filtering framework which implicitly enforces the smoothness constraints on the dynamics. The proposed technique can be used in driving assistance applications as well as in augmented reality applications. Experimental results and comparisons on urban environments with different road geometries are presented. Numéro de notice : C2007-042 Affiliation des auteurs : MATIS+Ext (1993-2011) Thématique : IMAGERIE Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : 10.1007/978-3-540-74260-9_42 En ligne : http://dx.doi.org/10.1007/978-3-540-74260-9_42 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=99652

Road approximation in euclidean and v-disparity space: A comparative study / Angel D. Sappa (2007)  

Public Titre : Road approximation in euclidean and v-disparity space: A comparative study Type de document : Article/Communication Auteurs : Angel D. Sappa, Auteur ; Rosa Herrero, Auteur ; Fadi Dornaika , Auteur ; David Geronimo, Auteur ; Antonio Lopez, Auteur Editeur : Berlin, Heidelberg, Vienne, New York, ... : Springer Année de publication : 2007 Collection : Lecture notes in Computer Science, ISSN 0302-9743 num. 4739 Conférence : EUROCAST 2007, 11th International Conference on Computer Aided Systems Theory 12/02/2007 16/02/2007 Las Palmas de Gran Canaria Espagne Importance : pp 1105 - 1112 Format : 16 x 24 cm Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique [Termes IGN] détection d'objet [Termes IGN] espace euclidien [Termes IGN] réseau routier [Termes IGN] transformation de Hough [Termes IGN] vision stéréoscopique Résumé : (auteur) This paper presents a comparative study between two road approximation techniques—planar surfaces—from stereo vision data. The first approach is carried out in the v-disparity space and is based on a voting scheme, the Hough transform. The second one consists in computing the best fitting plane for the whole 3D road data points, directly in the Euclidean space, by using least squares fitting. The comparative study is initially performed over a set of different synthetic surfaces (e.g., plane, quadratic surface, cubic surface) digitized by a virtual stereo head; then real data obtained with a commercial stereo head are used. The comparative study is intended to be used as a criterion for fining the best technique according to the road geometry. Additionally, it highlights common problems driven from a wrong assumption about the scene’s prior knowledge. Numéro de notice : C2007-059 Affiliation des auteurs : MATIS+Ext (1993-2011) Thématique : IMAGERIE Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : 10.1007/978-3-540-75867-9_138 En ligne : https://doi.org/10.1007/978-3-540-75867-9_138 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102617