669399
Camera Calibration: a USU Implementation
The task of camera calibration is to estimate the intrinsic and extrinsic parameters of a camera model. Though there are some restricted techniques to infer the 3-D information about the scene from uncalibrated cameras, effective camera calibration procedures will open up the possibility of using a wide range of existing algorithms for 3-D reconstruction and recognition. The applications of camera calibration include vision-based metrology, robust visual platooning and visual docking of mobile robots where the depth information is important.
5638961
Blind Detection and Compensation of Camera Lens Geometric Distortions
Author(s): Ma, Lili; Chen, YangQuan; Moore, Kevin L | Abstract: This paper presents a blind detection and compensation technique for camera lens geometric distortions. The lens distortion introduces higher-order correlations in the frequency domain and in turn it can be detected using higher-order spectral analysis tools without assuming any specific calibration target. The existing blind lens distortion removal method only considered a single-coefficient radial distortion model. In this paper, two coefficients are considered to model approximately the geometric distortion. All the models considered have analytical closed-form inverse formulae.
14235163
Robust controllability of interval fractional order linear time invariant systems
We consider uncertain fractional-order linear time invariant (FO-LTI) systems with interval coefficients. Our focus is on the robust controllability issue for interval FO-LTI systems in state-space form. We revisit the controllability problem for the case when there is no interval uncertainty. It turns out that the controllability check for FO-LTI systems amounts to checking the controllability of conventional integer order state space. Based on this fact, we further show that, for interval FO-LTI systems, the key is to check the linear dependency of a set of interval vectors. Illustrative examples are presented.
3264554
An Analytical Piecewise Radial Distortion Model for Precision Camera Calibration
The common approach to radial distortion is by the means of polynomial approximation, which introduces distortion-specific parameters into the camera model and requires estimation of these distortion parameters. The task of estimating radial distortion is to find a radial distortion model that allows easy undistortion as well as satisfactory accuracy. This article presents a new piecewise radial distortion model with easy analytical undistortion formula. The motivation for seeking a piecewise radial distortion model is that, when a camera is resulted in a low quality during manufacturing, the nonlinear radial distortion can be complex. Using low order polynomials to approximate the radial distortion might not be precise enough. In contrast, higher order polynomials suffer from the inverse problem. With the new piecewise radial distortion function, more flexibility is obtained and the radial undistortion can be performed analytically. Experimental results are presented to show that with this new piecewise radial distortion model, better performance can be achieved than using the single function. Further, a comparable performance with the conventional polynomial model using two coefficients can also be accomplished.
2422262
Visual servoing of an omni-directional mobile robot for alignment with parking lot lines
ODIS is an omni-directional mobile robot designed to autonomously or semi-autonomously inspect automobiles in a parking lot. Periodically, its position and orientation references need to be reset. This paper considers visual servoing to parking lot lines as one possible approach. Analysis and simulations demonstrate that a surprisingly simple proportional controller in the image coordinates can accomplish position and orientation alignment with parking lot lines. Unlike previous work, no image Jacobian matrix is necessary. Knowledge of the camera focal length is not required, but the camera and vehicle axes are assumed to be aligned, and the vehicle is assumed to rotate about the camera frame's y-axis.
18628154
A Family of Simplified Geometric Distortion Models for Camera Calibration
The commonly used radial distortion model for camera calibration is in fact an assumption or a restriction. In practice, camera distortion could happen in a general geometrical manner that is not limited to the radial sense. This paper proposes a simplified geometrical distortion modeling method by using two different radial distortion functions in the two image axes. A family of simplified geometric distortion models is proposed, which are either simple polynomials or the rational functions of polynomials. Analytical geometric undistortion is possible using two of the distortion functions discussed in this paper and their performance can be improved by applying a piecewise fitting idea. Our experimental results show that the geometrical distortion models always perform better than their radial distortion counterparts. Furthermore, the proposed geometric modeling method is more appropriate for cameras whose distortion is not perfectly radially symmetric around the center of distortion.
2968797
Ego-motion estimation using optical flow fields observed from multiple cameras
In this paper, we consider a multi-camera vision system mounted on a moving object in a static three-dimensional environment. By using the motion flow fields seen by all of the cameras, an algorithm which does not need to solve the point-correspondence problem among the cameras is proposed to estimate the 3D ego-motion parameters of the moving object. Our experiments have shown that using multiple optical flow fields obtained from different cameras can be very helpful for ego-motion estimation.
19990526
The C Information Abstraction System
A system for analyzing program structures is described. The system extracts relational information from C programs according to a conceptual model and stores the information in a database. It is shown how several interesting software tasks can be performed by using the relational views. These tasks include generation of graphical views, subsystem extraction, program layering, dead code elimination and binding analysis. >
16186547
Specification-based regression test selection with risk analysis
Regression testing is essential to ensure software quality. The test team applies a regression test suite to ensure that new or modified features do not regress (make worse) existing features. Although existing research has addressed many problems and put forward solutions, most regression test techniques are code-based. Code-based regression test selection is good for unit testing, but it has a scalability problem. When the size of the subject under test grows, it becomes hard to manage all the information and to create corresponding traceability matrices. In this paper, we describe a specification-based method for regression test selection.The basic model we use for describing requirements based on customer features or behaviors is the activity diagram, which is a notation of the Unified Modeling Language (UML). A process for identifying the affected test cases is presented. To summarize our approach, we select two kinds of regression tests: i) Targeted Tests, which ensure that important current customer features are still supported adequately in the new release and ii) Safety Tests, which are risk-directed, and ensure that potential problem areas are properly handled. Our test selection technique will be based on a practical risk analysis model.
6783224
Fingerprint Deformation Models Using Minutiae Locations and Orientations
Nonlinear deformations in fingerprint images, arising from the elasticity of the skin as well as the pressure and movement of the finger during image acquisition, lead to difficulties in establishing a match between multiple impressions acquired from the same finger. One solution to this problem is to estimate and remove the relative deformations prior to the matching stage. In this paper, these relative deformations are represented as an average deformation model based on minutiae locations and orientations using 2-D thin plate splines (TPS). The estimated average deformation is used to pre-distort a template prior to matching it with a query image in a verification task. Experimental results show that the use of minutiae locations and orientations to estimate the deformation leads to a more representative deformation model than using minutiae locations only. An index of deformation based on the bending energy is also proposed to select templates with the least variability in the deformations. The EER goes down by ap 1.1% when we incorporate minutiae orientation information and use the template selection strategy.
10399949
Quantifying Network Denial of Service: A Location Service Case Study
Network Denial of Service (DoS) attacks are increasing in frequency, severity and sophistication, making it desirable to measure the resilience of systems to DoS attacks. In this paper, we propose a simulation-based methodology and apply it to attacks on object location services such as DNS. Our results allow us to contrast the DoS resilience of three distinct architectures for object location.