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Correspondence Propagation with Weak Priors
"... For the problem of image registration, the top few reliable correspondences are often relatively easy to obtain, while the overall matching accuracy may fall drastically as the desired correspondence number increases. In this paper, we present an efficient feature matching algorithm to employ sparse ..."
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For the problem of image registration, the top few reliable correspondences are often relatively easy to obtain, while the overall matching accuracy may fall drastically as the desired correspondence number increases. In this paper, we present an efficient feature matching algorithm to employ sparse reliable correspondence priors for piloting the feature matching process. First, the feature geometric relationship within individual image is encoded as a spatial graph, and the pairwise feature similarity is expressed as a bipartite similarity graph between two feature sets; then the geometric neighborhood of the pairwise assignment is represented by a categorical product graph, along which the reliable correspondences are propagated; and finally a closed-form solution for feature matching is deduced by ensuring the feature geometric coherency as well as pairwise feature agreements. Furthermore, our algorithm is naturally applicable for incorporating manual correspondence priors for semi-supervised feature matching. Extensive experiments on both toy examples and real-world applications demonstrate the superiority of our algorithm over the state-of-the-art feature matching techniques.
Multimodal Stereo Vision System: 3D Data Extraction and Algorithm Evaluation
"... Abstract—This paper proposes an imaging system for com-puting sparse depth maps from multispectral images. A special stereo head consisting of an infrared and a color camera defines the proposed multimodal acquisition system. The cameras are rigidly attached so that their image planes are parallel. ..."
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Abstract—This paper proposes an imaging system for com-puting sparse depth maps from multispectral images. A special stereo head consisting of an infrared and a color camera defines the proposed multimodal acquisition system. The cameras are rigidly attached so that their image planes are parallel. Details about the calibration and image rectification procedure are provided. Sparse disparity maps are obtained by the combined use of mutual information enriched with gradient information. The proposed approach is evaluated using a Receiver Operating Characteristics curve. Furthermore, a multispectral dataset, color and infrared images, together with their corresponding ground truth disparity maps, is generated and used as a test bed. Experimental results in real outdoor scenarios are provided showing its viability and that the proposed approach is not restricted to a specific domain. Index Terms—Color and infrared images, multimodal stereo rig, sparse 3D maps. I.
The Self-Aware Matching Measure for Stereo
"... We revisit stereo matching functions, a topic that is considered well understood, from a different angle. Our goal is to discover a transformation that operates on the cost or similarity measures between pixels in binocular stereo. This transformation should produce a new matching curve that results ..."
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We revisit stereo matching functions, a topic that is considered well understood, from a different angle. Our goal is to discover a transformation that operates on the cost or similarity measures between pixels in binocular stereo. This transformation should produce a new matching curve that results in higher matching accuracy. The desired transformation must have no additional parameters over those of the original matching function and must result in a new matching function that can be used by existing local, global and semi-local stereo algorithms without having to modify the algorithms. We propose a transformation that meets these requirements, taking advantage of information derived from matching the input images against themselves. We analyze the behavior of this transformation, which we call Self-Aware Matching Measure (SAMM), on a diverse set of experiments on data with ground truth. Our results show that the SAMM improves the performance of dense and semi-dense stereo. Moreover, as opposed to the current state of the art, it does not require distinctiveness to match pixels reliably. 1.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Coordinated Adaptive Robust Contouring Control of an Industrial Biaxial Precision Gantry with C
"... Abstract—Cogging force is an important source of disturbances for linear-motor-driven systems. To obtain a higher level of contouring motion control performance for multi-axes mechanical systems subject to significant nonlinear cogging forces, both the coordinated control of multi-axes motions and t ..."
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Abstract—Cogging force is an important source of disturbances for linear-motor-driven systems. To obtain a higher level of contouring motion control performance for multi-axes mechanical systems subject to significant nonlinear cogging forces, both the coordinated control of multi-axes motions and the effective compensation of cogging forces are necessary. In addition, the effect of unavoidable velocity measurement noises needs to be sufficiently attenuated. This paper presents a discontinuous projection based desired compensation adaptive robust contouring controller to address these control issues all at once. Specifically, the presented approach explicitly takes into account the specific characteristics of cogging forces in the controller designs and employs the task coordinate formulation for coordinated motion controls. Theoretically, the resulting controller achieves a guaranteed transient performance and stead-state contouring accuracy even in the presence of both parametric uncertainties and uncertain nonlinearities. In addition, the controller also achieves asymptotic output tracking when there are parametric uncertainties only. Comparative experimental results obtained on a high-speed Anorad industrial biaxial precision gantry are presented to verify the excellent contouring performance of the proposed control scheme and the effectiveness of the cogging force compensations. Index Terms—Contouring control, linear motor, adaptive control, cogging force. I.
How To Teach Stereoscopic Matching?
, 2010
"... This paper describes a simple but non-trivial semidense stereoscopic matching algorithm that could be taught in Computer Vision courses. The description is meant to be instructive and accessible to the student. The level of detail is sufficient for a student to understand all aspects of the algorit ..."
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This paper describes a simple but non-trivial semidense stereoscopic matching algorithm that could be taught in Computer Vision courses. The description is meant to be instructive and accessible to the student. The level of detail is sufficient for a student to understand all aspects of the algorithm design and to make his/her own modifications. The paper includes the core parts of the algorithm in C code. We make the point of explaining the algorithm so that all steps are derived from first principles in a clear and lucid way. A simple method is described that helps encourage the student to benchmark his/her own improvements of the algorithm.
Prague
, 2009
"... branch No. 3902V035—Artificial Intelligence and Biocybernetics Doctoral thesis statement for obtaining the academic title of “Doctor”, abbreviated to “PhD”. ..."
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branch No. 3902V035—Artificial Intelligence and Biocybernetics Doctoral thesis statement for obtaining the academic title of “Doctor”, abbreviated to “PhD”.
