Lab Meeting, March 28, 2012 (Alan): Realtime Multibody Visual SLAM with a Smoothly Moving Monocular Camera (ICCV 2011)

Title: Realtime Multibody Visual SLAM with a Smoothly Moving Monocular Camera

In: 2011 IEEE International Conference on Computer Vision (ICCV 2011)

Authors: Abhijit Kundu, K Madhava Krishna and C. V. Jawahar

Abstract:

This paper presents a realtime, incremental multibody visual SLAM system that allows choosing between full 3D reconstruction or simply tracking of the moving objects. Motion reconstruction of dynamic points or objects from a monocular camera is considered very hard due to well known problems of observability. We attempt to solve the problem with a Bearing only Tracking (BOT) and by integrating multiple cues to avoid observability issues. The BOT is accomplished through a particle filter, and by integrating multiple cues from the reconstruction pipeline. With the help of these cues, many real world scenarios which are considered unobservable with a monocular camera is solved to reasonable accuracy. This enables building of a unified dynamic 3D map of scenes involving multiple moving objects. Tracking and reconstruction is preceded by motion segmentation and detection which makes use of efficient geometric constraints to avoid difficult degenerate motions, where objects move in the epipolar plane. Results reported on multiple challenging real world image sequences verify the efficacy of the proposed framework.

Link: local copy

Lab Meeting Mar. 21, 2012 (Wang Li): Object interaction detection using hand posture cues in an office setting (IJHCS 2011)

Object interaction detection using hand posture cues in an office setting

Brandon Paulson
Danielle Cummings
Tracy Hammond

Abstract

The goal of this paper is to determine if hand posture can be used as a cue to determine the types of interactions a user has with objects in a desk/office environment. Our experiments indicate that (a) hand posture can be used to determine object interaction, with accuracy rates around 97%, and (b) hand posture is dependent upon the individual user when users are allowed to interact with objects as they would naturally.

Paper Link

Lab Meeting March 07, 2012 (Jimmy): Hand-Grip and Body-Loss Impact on RSS Measurements for Localization of Mass Market Devices

Title: Hand-Grip and Body-Loss Impact on RSS Measurements for Localization of Mass Market Devices
Authors: Rosa, F.D.; Li Xu; Nurmi, J.; Pelosi, M.; Laoudias, C.; Terrezza, A.
In: IEEE International Conference on Localization and GNSS (ICL-GNSS), 2011

Abstract
In this paper we present the effect of the hand-grip and the presence of the human body on received signal strength measurements when performing positioning of mass market devices in indoor environments. We demonstrate that the mitigation of both human body and hand-grip influence can enhance the positioning accuracy and that the human factor cannot be neglected in experimental activities with real mobile devices.

[link]