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Questions tagged [computer-vision]

The goal of computer vision is an automatic extraction of information out of images. It includes methods for acquiring, processing, analyzing, and understanding images and high-dimensional data from the real world in order to produce numerical or symbolic information, e.g., in the forms of decisions. The image data can take many forms, such as video sequences, views from multiple cameras, or multi-dimensional data from a medical scanner.

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1answer
62 views

Short range stereo vision

I am designing a stereo vision system for short depth range (15 cm to 35 cm) and I have some problems about baseline, focal length and depth range. My application is to scan an animal tissue (meat, ...
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2answers
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How does structured light improve accuracy in stereo vision?

In my understanding, in order to improve accuracy for the estimation of depth with a stereo vision camera, patterns of light are projected into the scene, because the resulting texture makes it easier ...
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7 views

Creating a Raspberry Pi drone without Navio

I'm very interested in developing software to run an autonomous drone. Preferably using the raspberry pi. There is a lot of information on the internet, much of it is outdated and is extremely ...
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6 views

Active Light Stereopsis: 1 Camera + Projector Vs. 2 Camera + Projector

What is the difference between using 1 Camera and a Projector and using 2 Cameras and a Projector for creating structure from motion? Is it that if we use only 1 camera and a projector then we will ...
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1answer
16 views

Facial Detection combined with Path Planning using Kinect Sensor

I am planning to use a Kinect Sensor on a mobile robot for path planning based on facial detection. Assuming I am able to detect the faces of 5 individuals in a room (both the environment and the ...
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1answer
55 views

Fusing Multiple Lidars Into 1 Point Cloud

I have a car with 8 lidars, each with a field of view of 60 degrees. My car looks like this How can I merge all the lidar readings into 1 point cloud?
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21 views

How to perform Image alignment using pyramid levels

To gain some confidence, I want to implement the camera tracking (optimization problem) discussed in Semi Dense Visual Odometry for a monocular cameraJ Engel, J Strum, D Cremers $$E(\xi) = \underset{...
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16 views

Detecting pieces of a Version 1 QR code and processing the assembled version

I am building an aerial robot that needs to be able to detect pieces of a QR code (examples below) and combine them to process the information contained in the fully assembled QR code. I don't have ...
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1answer
19 views

Depth images with undetectable outlines

I'm trying to capture depth images with a RGBD camera, but all of the images have undetectable outlines around objects: Is this expected from RGBD cameras or is mine a dud? It's an Astra Pro.
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1answer
213 views

Rotation composition When using Kalman Filter

I am implementing a Kalman Filter for the following situation. I have a camera set in a room that can detect the position and orientation of a marker (ARUCO) in the room. Therefore I have the ...
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1answer
30 views

ORB-SLAM pose estimation

I've been reading about ORB-SLAM and ORB-SLAM2, but I can't quite figure out how pose estimation is done. I see that it uses a bag-of-word method for loop detection, but how are current features ...
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How to make x variable change each time and read its value from txt file

I am working on my undergraduate project and this is my first time in using use python to control parrot bebop 2 drone and use BCI or BMI technology. I have x variable (int) and I want to read its ...
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1answer
31 views

For pose estimation, what is the typical range of the rotation values that are estimated? Is it from -180 to 180 degrees?

I am currently working with the Rutgers APC 2015 data set for pose estimation, and see that the pose estimates, specifically the rotation estimates, have seemingly been rescaled to range between -1 ...
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1answer
177 views

Pictures coordinates to robot coordinates

I have a picture on my C# software and the corresponding object in real world on 2d plane of motorized XY axis table. What I want is when I select a pixel on my picture, the motorized table should be ...
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19 views

what is ultrasonic based slam

i am confused about SLAM implementation, and i need your advise to organize my mind. Fist let me say that i have to generate 2D map, what is in this case the SLAM input? is it like (x1,y1),(x2,y2)...(...
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83 views

estimate accuracy of (aruco) marker position tracking

I'm planning a concept for calibrating a robot model. For this purpose I want to use computer vision approaches. Since I'm not that experienced in that field I have some basic questions on the ...
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1answer
69 views

How can I receive Genicam packets from a device in a docker container?

I installed a command line tool which accepts genicam packets from a device as input into a docker image. If I use the option --network host in the ...
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4answers
4k views

Computer vision with single camera vs. distance sensors for obstacle detection [closed]

I am going to start a new project consisting in implementing an autonomous driving RC car. The car as it is now, has a camera installed on each side of the car, i.e. 4 cameras in total. They are ...
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1answer
62 views

Efficient sphere surface area search

As shown in the figure, there are objects of arbitrary shapes placed on the surface of the sphere at arbitrary locations. The problem is to search the surface to locate these objects in most efficient ...
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16 views

Hunt for fast plane extraction algorithms from sparse map points

My input was a set of sparse 3D map points(landmarks) maintained by SLAM algorithm, z-axis of the world frame permanently points to the negative direction of the ...
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1answer
54 views

What is the relation between FOV, Focal Length and Sensor size in a Pin hole Camera Model?

I aim to recreate the camera parameters of my camera in the Unity rendering system, which has the following variables: 1) I tweaked the focal length and saw that the Field of View is changing (...
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13 views

Remove jittering from head pose estimated via dlib face detector

I am using dlib’s face detector with openCV to measure head pose and then use these values to render a Vr scene in unity 3D. The only problem is the jittering in the values estimated via computer ...
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Is it possible to calculate a homography matrix for any 2 views?

I've been experimenting with opencv to estimate the homography matrix between 2 images captured with my computer's webcam. I have noticed that when the 2 views are not very far apart (that's when I ...
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0answers
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Undo pitching effect of camera when pose (y-axis) is near 90 degrees?

I am using KITTI odometry dataset whereby the camera's axis is pointing X (east), Y (down) and Z (north). It also contain the frame to frame poses of the camera (first pose is fixed as the map frame). ...
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1answer
55 views

vision guided robotic arm always required 6d pose of object? [closed]

I have an object like attached in image. It is hanging vertical (its position may change but static object) and I want to grasp it using 6DOF Robotic arm. I am Using camera to detect object. I am ...
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1answer
112 views

Can you find object distance using camera pose

I have bounding boxes detected in RGB images, but no information about the camera's intrinsic properties. Using deep learning (preferably) can I find the distance to the object from the camera in real ...
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1answer
28 views

Obstacle width measurement

On non-lidar equipped rovers, how is the width of an obstacle detected such that it can be avoided? If the ultrasonic sensors are used for obstacle detection, these sensors usually don't give data ...
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0answers
87 views

robot Hand Eye Calibration problem

I am trying to understand the implementations and the relative performance of various classical and new Hand-eye calibration approaches. Note: The following discussion assumes implementations are in ...
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5answers
536 views

Using vision for Monte-Carlo localization

From each step of my vision code I am able to get around 400 coordinates of where the robot thinks the walls are I want to integrate this into Monte-Carlo observation step. I'm storing the map of ...
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1answer
37 views

How to perform active search in point feature based monoSLAM?

I am modifying an implementation of SLAM with single camera, MonoSLAM [1]. Instead of image patches, I want to use features points (ORB) to track landmarks. MonoSLAM uses a EKF framework. So for ...
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3answers
159 views

Why do robots need rangefinders while animals don't?

Will vision based system eventually prevail rangefinders based systems given that the most successful autonomous agents in the world like animals use primarily visions to navigate?
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3answers
1k views

Real-time video processing on video feed from a drone's camera

I am working on a project where I want to run some computer vision algorithms (e.g. face recognition) on the live video stream coming from a flying drone. There are many commercial drones out there ...
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0answers
45 views

Tracking object in realtime using depth image stream from a RGBD camera

I have an Intel RealSense camera which can stream RGB and depth image. Using those information I want to track an object moving on a table top. More specifically, I want to know position $(x,y)$ and ...
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1answer
365 views

What is the best way to compute the probabilistic belief of a robot equipped with a vision sensor?

I am trying to implement 'belief space' planning for a robot that has a camera as its main sensor. Similar to SLAM, the robot has a map of 3D points, and it localizes by performing 2D-3D matching with ...
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2answers
73 views

Question about Lens distortion

Suppose I have a 240x180 camera with the following distortion co-efficients, $$k_1 = -0.138592767408$$ $$k_2=0.0933736664192$$ $$k_3=0.0$$ $$p_1=k_4=-0.000335586987532$$ $$p_2=k_5=0.000173720158228$$ ...
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3answers
448 views

What is the best SE3 library for python?

I am currently googling on this topic but I would like to hear your opinion. What is the best self-contained SE3 library that offers interconversion between quaternion, rotation vector, ...
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1answer
59 views

Transformation matrix between a 2D and a 3D coordinate system

I have 2 sensors : one has 2D coordinate system and the other has a 3D coordinate system (not same origin). Knowing the positions of some corresponding target points (used as fixed reference) in both ...
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2answers
65 views

Any reference for “3D feature matching + ICP”?

One of the simple tricks in getting high performance for a global 3D point cloud registration is combining "3D feature matching + ICP". For example FPFH matching + RANSAC for initial pose estimation ...
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1answer
490 views

Role of Neuromorphic Computing and Quantum Computing in the field of Robotics and AI

I asked a similar kind of question some time ago (Neuromorphic Engineering and Robotics) Since then, many things have come to the point of revelation. A road-map for neuromorphic computing was ...
2
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1answer
88 views

Fixing the first node in Graph-based SLAM

The first node in the graph SLAM should be fixed. The famous "a tutorial on graph based slam" paper is showing that we can fix a node by adding identity matrix. Why adding identity to the Hessian of ...
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2answers
304 views

Robotic cell simulation software, PLC [closed]

I need to simulate robotic cell where cartesian robot trims a PCB arriving on conveyor, picks it up with vacuum cup and and places in another device. After receiving signal from device the robot would ...
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2answers
6k views

How can I improve ZED Camera precision? [closed]

I'm using Stereolabs ZED camera for my computer vision project. I did a small research about several sensors on the market and ultimately we decided to go with the ZED Camera. However I'm finding ...
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2answers
3k views

Depth accuracy of the stereo camera

I am doing a project on calibrating stereo ZED camera and finding its accuracy and compare with the Manufacturer's accuracy of 1% at 1m depth accuracy. For this purpose , the formula to calculate the ...
5
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2answers
744 views

Transforming Point Cloud to get Top Down Image [closed]

My task: I have a task where I am asked to track parcels(carton boxes) of different dimensions moving on a conveyor. I am using Asus Xtion pro camera mounted on top of a conveyor in any inclined ...
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1answer
66 views

How to tringulate many projections of a point to optimal postion?

Suppose we have many images for the same scene (with known poses already,using for ex: a GPS ), and the same feature appear in more than 2 images . How to use all the available info to compute as ...
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1answer
395 views

Marginalization in Graph SLAM [duplicate]

I have several questions about the process of marginalization in SLAM algorithms: 0 - What are the mathematic intuition behind marginalization process 1 - I know marginalization of states or points ...
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0answers
94 views

How to update a new pose in iterative pose optimization problem?

There are multiple ways to update new pose in iterative pose optimization problem. The easiest one we often find in papers in robotics is as SO3 + translation Update on right \begin{equation} \...
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1answer
81 views

Robotic Hand Grasp Planning - How do I find the initial contact point for each finger when grasping an object?

I am trying to design a robotic hand that is able to adaptively grasp unfamiliar objects. I am initially thinking that using OpenCV for pose estimation might make doing so easier. Assuming that I am ...
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0answers
41 views

Algorithm for orientation (pan/tilt) towards a moving point

Main Question: note: The code in this question is pseudo-code, I'm using Python, but my pseudo-code is a mix of Python and C++. I have a camera on the top of my robot's "head" which has pan and tilt ...
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1answer
34 views

Combining multiple constraints in optimization

Let's say we have two equations for a pose $\textbf{R},\textbf{t}$ optimization problem. For ICP constraint $$\textbf{e}{_{I}}=\textbf{n}^\top(\textbf{p}_d-(\textbf{R}\textbf{p}_s+\textbf{t}))$$ For ...