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.
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.
1374
Flexible camera calibration using a new analytical radial undistortion formula with application to mobile robot localization
Most algorithms in 3D computer vision rely on the pinhole camera model because of its simplicity, whereas virtually all imaging devices introduce a certain amount of nonlinear distortion, where the radial distortion is the most severe part. 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 paper presents a new radial distortion model with an easy analytical undistortion formula, which also belongs to the polynomial approximation category. Experimental results are presented to show that with this radial distortion model, satisfactory accuracy is achieved. An application of the new radial distortion model is non-iterative yellow line alignment with a calibrated camera on ODIS, a robot built in our CSOIS.
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.
712
Rational Radial Distortion Models with Analytical Undistortion Formulae
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 paper presents a new class of rational radial distortion models with easy analytical undistortion formulae. Experimental results are presented to show that with this class of rational radial distortion models, satisfactory and comparable accuracy is achieved.
14714015
Robust stability check of fractional order linear time invariant systems with interval uncertainties
For uncertain fractional-order linear time invariant (FO-LTI) systems with interval coefficients described in state space form, the robust stability check problem is solved for the first time in this paper. Both the checking procedure and the Matlab code are presented with two illustrative examples. The conservatism is shown to be small.
14368338
Optimal radial contour tracking by dynamic programming
A common problem in most active contour methods is that the recursive searching scheme can only return a local optimal solution. Furthermore, the internal energy of the snake is not strong enough to control the shape of the contour. To overcome these difficulties, we develop a causal internal energy term based on a radial contour representation to encode the smooth constraint of the contour, and develop a global shape priori to control contour's shape and position based on object's dynamics. The causality nature of the representation allows us to efficiently find global optimal solution using dynamic programming. To validate the efficacy and robustness of the proposed approach, we apply this approach to track people in bad illumination and cluttered environments. We report promising results in the paper.
9049589
A service-oriented modeling and simulation framework for rapid development of distributed applications
Abstract The paper presents a service-oriented distributed modeling and simulation framework that supports the development and evaluation of large scale distributed systems such as network-centric and system-of-systems applications. The distinct features of the framework include a modeling and specification language, dynamic model checking for completeness and consistency, automated code generation from the specification, simulation of different architectures with a template-based platform builder, service-oriented multi-agent simulation for easy re-configuration and re-composition, formal policy specification and enforcement for dynamic verification, and dynamic analyses for evaluation and monitoring. The framework and most of the tools reported in this paper have been implemented and applied in several industrial projects. This paper presents the design principles, user interfaces, its runtime infrastructure, and the experiment results on its performance.
6860435
On the stability of network distance estimation
Overlay network distance monitoring and estimation system can benefit many new applications and services, such as peer-to-peer overlay routing and location. However, there is a lack of such scalable system with small overhead, good usability, and good distance estimation accuracy and stability. Thus we propose a scalable overlay distance monitoring system, Internet Iso-bar, which clusters hosts based on the similarity of their perceived network distance, with no assumption about the underlying network topology. The centers of each cluster are then chosen as monitors to represent their clusters for probing and distance estimation. We compare it with other network distance estimation systems, such as Global Network Positioning (GNP) [1]. Internet Iso-bar is easy to implement and use, and has good scalability and small communication and computation cost for online monitoring. Preliminary evaluation on real Internet measurement data also shows that Internet Iso-bar has high prediction accuracy and stability. Finally, by adjusting the number of clusters, we can smoothly trade off the measurement and management cost for better distance estimation accuracy and stability.
7632435
Multi-level Semantic Analysis for Sports Video
There has been a huge increase in the utilization of video as one of the most preferred type of media due to its content richness for many significant applications including sports. To sustain an ongoing rapid growth of sports video, there is an emerging demand for a sophisticated content-based indexing system. Users recall video contents in a high-level abstraction while video is generally stored as an arbitrary sequence of audio-visual tracks. To bridge this gap, this paper will demonstrate the use of domain knowledge and characteristics to design the extraction of high-level concepts directly from audio-visual features. In particular, we propose a multi-level semantic analysis framework to optimize the sharing of domain characteristics.
14540904
Camera calibration with a motorized zoom lens
This paper presents a simple and efficient method of calibrating the intrinsic camera parameters for all the lens settings of a motorized zoom lens. We fix the aperture setting and perform the camera calibration, adaptively, over the ranges of the room and focus settings. Bilinear interpolation is used to provide the values of the intrinsic camera parameters for those lens settings where no observations are taken. Our experiments show that the proposed method can provide accurate intrinsic camera parameters for all the lens settings, even though camera calibration is performed only for a small number of sampled lens settings. A calibration object suitable for zoom lens calibration is also presented.