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Self-calibration of a stereo rig using monocular epipolar geometries / Fadi Dornaika in Pattern recognition, vol 40 n° 10 (October 2007)
[article]
Titre : Self-calibration of a stereo rig using monocular epipolar geometries Type de document : Article/Communication Auteurs : Fadi Dornaika , Auteur Année de publication : 2007 Article en page(s) : pp 2716 - 2729 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Termes IGN] auto-étalonnage
[Termes IGN] géométrie épipolaire
[Termes IGN] programmation non linéaireRésumé : (auteur) This paper addresses the problem of self-calibration from one unknown motion of an uncalibrated stereo rig. Unlike the existing methods for stereo rig self-calibration, which have been focused on applying the autocalibration paradigm using both motion and stereo correspondences, our method does not require the recovery of stereo correspondences. Our method combines purely algebraic constraints with implicit geometric constraints. Assuming that the rotational part of the stereo geometry has two unknown degrees of freedom (i.e., the third dof is roughly known), and that the principle point of each camera is known, we first show that the computation of the intrinsic and extrinsic parameters of the stereo rig can be recovered from the motion correspondences only, i.e., the monocular fundamental matrices. We then provide an initialization procedure for the proposed non-linear method. We provide an extensive performance study for the method in the presence of image noise. In addition, we study some of the aspects related to the 3D motion that govern the accuracy of the proposed self-calibration method. Experiments conducted on synthetic and real data/images demonstrate the effectiveness and efficiency of the proposed method. Numéro de notice : A2007-689 Affiliation des auteurs : MATIS (1993-2011) Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.patcog.2007.01.008 Date de publication en ligne : 27/01/2007 En ligne : https://doi.org/10.1016/j.patcog.2007.01.008 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102802
in Pattern recognition > vol 40 n° 10 (October 2007) . - pp 2716 - 2729[article]
Titre : Efficient facial expression recognition for human robot interaction Type de document : Article/Communication Auteurs : Fadi Dornaika , Auteur ; Bogdan Raducanu, Auteur Editeur : Berlin, Heidelberg, Vienne, New York, ... : Springer Année de publication : 2007 Collection : Lecture notes in Computer Science, ISSN 0302-9743 num. 4507 Conférence : IWANN 2007, 9th International Work-Conference on Artificial Neural Networks 20/06/2007 22/06/2007 San Sebastian Espagne Importance : pp 700 - 708 Format : 16 x 24 cm Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image
[Termes IGN] interaction homme-machine
[Termes IGN] reconnaissance faciale
[Termes IGN] robot
[Termes IGN] vision par ordinateurRésumé : (auteur) In this paper, we propose a novel approach for facial expression analysis and recognition. The main contributions of the paper are as follows. First, we propose an efficient facial expression recognition scheme based on the detection of keyframes in videos where the recognition is performed using a temporal classifier. Second, we use the proposed method for extending the human-machine interaction functionality of the AIBO robot. More precisely, the robot is displaying an emotional state in response to the recognized user's facial expression. Experiments using unseen videos demonstrated the effectiveness of the developed method. Numéro de notice : C2007-061 Affiliation des auteurs : MATIS+Ext (1993-2011) Thématique : IMAGERIE Nature : Communication DOI : 10.1007/978-3-540-73007-1_84 En ligne : https://doi.org/10.1007/978-3-540-73007-1_84 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102620
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 stéréoscopiqueRésumé : (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
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 ordinateurRésumé : (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
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 stéréoscopiqueRésumé : (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 Mosaicking images with parallax / Fadi Dornaika in Signal Processing: Image Communication, vol 19 n° 8 (September 2004)PermalinkPermalinkContribution à l’intégration vision/robotique : calibrage, localisation et asservissement / Fadi Dornaika (1992)Permalink