Lab Meeting January 17( KuenHan ), Moving Object Detection by Multi-View Geometric Techniques from a Single Camera Mounted Robot (IROS 2009)

Title: Moving Object Detection by Multi-View Geometric Techniques from a Single Camera Mounted Robot ( IROS 2009)
Author: Abhijit Kundu, K Madhava Krishna and Jayanthi Sivaswamy

Abstract:
The ability to detect, and track multiple moving
objects like person and other robots, is an important prerequisite
for mobile robots working in dynamic indoor environments.
We approach this problem by detecting independently moving
objects in image sequence from a monocular camera mounted
on a robot. We use multi-view geometric constraints to classify
a pixel as moving or static. The first constraint, we use, is the
epipolar constraint which requires images of static points to
lie on the corresponding epipolar lines in subsequent images.
In the second constraint, we use the knowledge of the robot
motion to estimate a bound in the position of image pixel along
the epipolar line. This is capable of detecting moving objects
followed by a moving camera in the same direction, a so-called
degenerate configuration where the epipolar constraint fails.
To classify the moving pixels robustly, a Bayesian framework
is used to assign a probability that the pixel is stationary
or dynamic based on the above geometric properties and
the probabilities are updated when the pixels are tracked in
subsequent images. The same framework also accounts for the
error in estimation of camera motion. Successful and repeatable
detection and pursuit of people and other moving objects in
realtime with a monocular camera mounted on the Pioneer
3DX, in a cluttered environment confirms the efficacy of the
method.

Link

Lab Meeting January 10th, 2011(Jimmy) : Accurate Image Localization Based on Google Maps Street View (ECCV 2010)

Title: Accurate Image Localization Based on Google Maps Street View
Authors: Amir Roshan Zamir, Mubarak Shah
In ECCV 2010

Abstract
Finding an image's exact GPS location is a challenging computer vision problem that has many real-world applications. In this paper, we address the problem of fi nding the GPS location of images with an accuracy which is comparable to hand-held GPS devices. We leverage a structured data set of about 100,000 images build from Google Maps Street View as the reference images. We propose a localization method in which the SIFT descriptors of the detected SIFT interest points in the reference images are indexed using a tree. In order to localize a query image, the tree is queried using the detected SIFT descriptors in the query image. A novel GPS-tag-based pruning method removes the less reliable descriptors. Then, a smoothing step with an associated voting scheme is utilized; this allows each query descriptor to vote for the location its nearest neighbor belongs to, in order to accurately localize the query image. A parameter called Confidence of Localization which is based on the Kurtosis of the distribution of votes is de fined to determine how reliable the localization of a particular image is. In addition, we propose a novel approach to localize groups of images accurately in a hierarchical manner. First, each image is localized individually; then, the rest of the images in the group are matched against images in the neighboring area of the found first match. The fi nal location is determined based on the Confidence of Localization parameter. The proposed image group localization method can deal with very unclear queries which are not capable of being geolocated individually.

[pdf]

Lab Meeting January 3rd, 2011(Will) : Neural Prothesis & Realtime Bayes Tracking

Topic: Neural Prothesis & Realtime Bayes Tracking

Neural prothesis is a field that use brain to control motors to help disable people.
I'll report my survey on the neural prothesis decoding algorithm.

Po-Wei