Stereo cameras can capture the rich image textures of a scene, while LiDAR can obtain accurate 3D coordinates of point clouds of a scene. They complement each other and can achieve comprehensive and accurate environment perception through data fusion...
In order to complete the high-precision calibration of the planetary rover navigation camera using limited initial data in-orbit, we proposed a joint adjustment model with additional multiple constraints. Specifically, a base model was first establis...
One of the greatest difficulties in stereo vision is the appearance of ambiguities when matching similar points from different images. In this article we analyze the effectiveness of using a fusion of multiple baselines and a range finder from a theo...
Robot table tennis systems require a vision system that can track the ball position with low latency and high sampling rate. Altering the ball to simplify the tracking using, for instance, infrared coating changes the physics of the ball trajectory....
In this work, a new method for aerial robot remote sensing using stereo vision is proposed. A variable baseline and flexible configuration stereo setup is achieved by separating the left camera and right camera on two separate quadrotor aerial robots...
This study focuses on solving the correspondence problem of multiple moving objects with similar appearances in stereoscopic videos. Specifically, we address the multi-camera correspondence problem by taking into account the pixel-level and feature-l...
In this study, we propose a novel rectification method for three cameras using a single image for depth estimation. Stereo rectification serves as a fundamental preprocessing step for disparity estimation in stereoscopic cameras. However, off-the-she...
This paper provides a comparative analysis of calibration techniques applicable to stereo and near-infrared (NIR) camera systems, with a specific emphasis on the Intel RealSense SR300 alongside a standard 2-megapixel NIR camera. This study investigat...
Robot hand-to-eye calibration is a necessary process for a robot arm to perceive and interact with its environment. Past approaches required collecting multiple images using a calibration board placed at different locations relative to the robot. Whe...
In recent years, 360° videos have gained the attention of researchers due to their versatility and applications in real-world problems. Also, easy access to different visual sensor kits and easily deployable image acquisition devices have played...
We propose an omnidirectional measurement method without blind spots by using a convex mirror, which in principle does not cause chromatic aberration, and by using vertical disparity by installing cameras at the top and bottom of the image. In recent...
Topographic products are important for mission operations and scientific research in lunar exploration. In a lunar rover mission, high-resolution digital elevation models are typically generated at waypoints by photogrammetry methods based on rover s...
We have used high-resolution digital terrain models (DTMs) of two rover landing sites based on mosaicked images from the High-Resolution Imaging Science Experiment (HiRISE) camera as a reference to evaluate DTMs based on High-Resolution Stereo Camera...
Fusing data from many sources helps to achieve improved analysis and results. In this work, we present a new algorithm to fuse data from multiple cameras with data from multiple lidars. This algorithm was developed to increase the sensitivity and spe...
In full-field 3D displacement measurement, stereo digital image correlation (Stereo-DIC) has strong capabilities. However, as a result of difficulties with stereo camera calibration and surface merging, 360-deg panoramic displacement measurements rem...
Nowadays, 3D imaging of plants not only contributes to monitoring and managing plant growth, but is also becoming an essential part of high-throughput plant phenotyping. In this paper, an inexpensive (less than 70 USD) and portable platform with bino...
Traditional monocular and stereo visual SLAM systems often fail to operate stably in complex unstructured environments (e.g., weakly textured or repetitively textured scenes) due to feature scarcity from their limited fields of view. In contrast, mul...
Three-dimensional (3D) reconstruction of a tree canopy is an important step in order to measure canopy geometry, such as height, width, volume, and leaf cover area. In this research, binocular stereo vision was used to recover the 3D information of t...
Photogrammetry (PG) appeared as an alternative for multiple implant impressions. Stereo-photogrammetry is a more sophisticated alternative to PG, which estimates the 3D coordinates of the points of an object, making the process quicker and more preci...
This paper proposes a wide-baseline stereo-based static obstacle mapping approach for unmanned surface vehicles (USVs). The proposed approach eliminates the complicated calibration work and the bulky rig in our previous binocular stereo system, and r...
The photometric stereo method enables estimation of surface normals from images that have been captured using different but known lighting directions. The classical photometric stereo method requires at least three images to determine the normals in...
Robust and accurate pose estimation is crucial for many applications in mobile robotics. Extending visual Simultaneous Localization and Mapping (SLAM) with other modalities such as an inertial measurement unit (IMU) can boost robustness and accuracy....
Tracking across multiple cameras is a complex problem in computer vision. Its main challenges include camera calibration, occlusion handling, camera overlap and field of view, person re-identification, and data association. In this study, we designed...
We present a novel simultaneous localization and mapping (SLAM) system that extends the state-of-the-art ORB-SLAM2 for multi-camera usage without precalibration. In this system, each camera is tracked independently on a shared map, and the extrinsic...
Multi-camera Visual Simultaneous Localization and Mapping (V-SLAM) increases spatial coverage through multi-view image streams, improving localization accuracy and reducing data acquisition time. Despite its speed and generally robustness, V-SLAM oft...
In wildfire research, systems that are able to estimate the geometric characteristics of fire, in order to understand and model the behavior of this spreading and dangerous phenomenon, are required. Over the past decade, there has been a growing inte...
To address the limitations of conventional stereo-digital image correlation (DIC) on measuring complex objects, a continuous-view multi-camera DIC (MC-DIC) system and its two forms of camera arrangement are introduced. Multiple cameras with certain o...
Acquiring gait parameters from usual walking is important to predict clinical outcomes including life expectancy, risk of fall, and neurocognitive performance in older people. We developed a novel gait analysis tool that is small, less-intrusive and...
Structured-light vision methods are widely employed for three-dimensional reconstruction. As a typical structured light pattern, grid pattern is extensively applied in single-shot three-dimensional reconstruction. The uniqueness of the grid feature r...
Computer vision techniques such as three-dimensional digital image correlation (3D-DIC) and three-dimensional point tracking (3D-PT) have demonstrated broad applicability for monitoring the conditions of large-scale engineering systems by reconstruct...
Among the physical attributes of agricultural materials, mass, volume, and sizes have always been important quality parameters. Previous research focused mostly on volume estimation using stereo-based approaches, which rely on manual intervention or...
With the widespread adoption of modern RGB cameras, an abundance of RGB images is available everywhere. Therefore, multi-view stereo (MVS) 3D reconstruction has been extensively applied across various fields because of its cost-effectiveness and acce...
With the continuous development of science and technology, laser ranging technology will become more efficient, convenient, and widespread, and it has been widely used in the fields of medicine, engineering, video games, and three-dimensional imaging...
In recent years, there has been a growing demand for 3D reconstructions of tunnel pits, underground pipe networks, and building interiors. For such scenarios, weak textures, repeated textures, or even no textures are common. To reconstruct these scen...
An accurate description of the formability and failure behavior of sheet metal materials is essential for an optimal forming process design. In this respect, the forming limit curve (FLC) based on the Nakajima test, which is determined in accordance...
In this work, we propose and evaluate a pose-graph optimization-based real-time multi-sensor fusion framework for vehicle positioning using low-cost automotive-grade sensors. Pose-graphs can model multiple absolute and relative vehicle positioning se...
The increasingly widespread use of smartphones as real cameras on drones has allowed an ever-greater development of several algorithms to improve the image’s refinement. Although the latest generations of drone cameras let the user achieve high...
A slip-aware localization framework is proposed for mobile robots experiencing wheel slip in dynamic environments. The framework fuses infrastructure-aided visual tracking data (via fisheye lenses) and proprioceptive sensory data from a skid-steer mo...
This paper presents a new solution for underwater observation, image recording, mapping and 3D reconstruction in shallow waters. The platform, designed as a research and testing tool, is based on a small underwater robot equipped with a MEMS-based IM...
Thermal inspection is a powerful tool that enables the diagnosis of several components at its early stages. One critical aspect that influences thermal inspection outputs is the infrared reflection from external sources. This situation may change the...
Recently, the term smartphone photogrammetry gained popularity. This suggests that photogrammetry may become a simple measurement tool by virtually every smartphone user. The research was undertaken to clarify whether it is appropriate to use the Str...
In the early days of railroads in Korea, railway bridges were constructed as steel plate-girder structures, which are vulnerable to vibration and torsion. Many of these bridges have since been replaced with concrete-slab structures, which have high s...
We investigated optimal implementation strategies for industrial inspection systems aiming to detect cracks on ground steel billets’ surfaces by combining state-of-the-art AI-based methods and classical computational imaging techniques. In 2D t...
This paper focuses on data fusion, which is fundamental to one of the most important modules in any autonomous system: perception. Over the past decade, there has been a surge in the usage of smart/autonomous mobility systems. Such systems can be use...
Systems composed of multiple sensors for exteroceptive perception are becoming increasingly common, such as mobile robots or highly monitored spaces. However, to combine and fuse those sensors to create a larger and more robust representation of the...
Photogrammetry-based 3D reconstruction of the shape of fast-moving objects from image sequences presents a complex yet increasingly important challenge. The 3D reconstruction of a large number of fast-moving objects may, for instance, be of high impo...
To address the lack of fast and high-precision in situ measurement of large-sized pipes in current industrial applications, a pipe-diameter-measurement method based on stereo vision is designed in this paper. By using multiple sets of binocular camer...
Accurate vehicle ego-localization is key for autonomous vehicles to complete high-level navigation tasks. The state-of-the-art localization methods adopt visual and light detection and ranging (LiDAR) simultaneous localization and mapping (SLAM) to e...
This paper deals with an improved methodology to measure three-dimensional dynamic displacements of a structure by digital close-range photogrammetry. A series of stereo images of a vibrating structure installed with targets are taken at specified in...
For the problem of 3D line reconstruction in binocular or multiple view stereo vision, when there are no corresponding points on the line, the method called Direction-then-Point (DtP) can be used, and if there are two pairs of corresponding points on...
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