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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92 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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Disparity error in active light stereo systems?

Based on this relationship, if we have to estimate the 'disparity error' of a stereo system which uses active light on the scene - can we estimate the disparity error to be very small? According to ...
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1answer
26 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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25 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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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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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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How does marginalization of variables effect least squares SLAM energy function?

Consider a simple example of Bundle Adjustment where I have robot and landmark poses $x = \left[ x_p \text{ } x_m\right]^T$ and measurements given by $z$, such that a simple factor graph can be ...
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100 views

Monocular SLAM depth reconstruction

I am trying to derive the inverse depth equation used in monocular SLAM algorithms. Specifically the equation 8 of the ORB SLAM paper I am very close, except I do not understand where the (u_j-c) ...
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Consitent Scale in Monocular pose estimation

I just wanted to know if scale is conserved across multiple images, when doing a process such as monocular odometry. I know in reality the scale tends to drift over time due to accumulation of small ...
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261 views

Triangulation from calibrated stereo rig

I am using a stereo rig to do SLAM, calibrated using the MATLAB Calibration Tool. I need to compute the 2D coordinates of a landmark using the observation model obtained from triangulation (the images ...
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578 views

Correcting GPS track with visual odometry (sensor fusion)

I am trying to build low cost and precise outdoor positioning. I explored NS-RAW with RTKLIB - this would be doable but probably will need either a base station to get the correction data for rover or ...
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26 views

Interpreting results from Camera Calibration?

I used OpenCV's findChessboardCorners on a few checkerboard images (40~) and about 27 seemed to find the corners accurately. How does one proceed from here? Do I calculate the reprojection error over ...
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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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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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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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42 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
260 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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137 views

Which Kinect to use for robotic arm pick and place application with object detection?

I am building a robotic arm for pick and place application. The robot is going to recognize several objects using the RGB feed from Kinect (will use a model such as YOLOv2 for object detection, ...
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251 views

Maintaining scale factor for essential matrix

I want to recover the trajectory of a vehicle using a monocular camera via the computation of the essential matrix between t-1 and ...
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Is the distortion introduced by a lens protector significant in practice?

I have a computer-vision application I made to localize a robot in a room; the software has been in use for a while and is working fine. When I calibrated the camera and got the intrinsics and lens ...
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55 views

Depth of view for a hypercatadioptric camera

I am trying to determine the depth of view for a hypercatadioptric camera (camera lens system and a hyperbolic mirror) based on 1. The following illustration seems pretty clear. For an image point $...
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198 views

How to change the orientation of an object w.r.t a scene?

I am trying to localize an object in a point cloud using ROS, PCL. For that I capture the scene and model using Asus xtion pro sensor. I use RGBDSLAMv2 for capturing the model. Then I use ICP (...
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1answer
11 views

Tracking 3D motion using a stereo camera

Assuming you have a fixed stereo camera, looking at a rigid object, what are the techniques used to track the object? My google searches lead me to optical flow and similar algorithms, but I believe ...
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21 views

Rescaling a local Map in VSLAM (orb slam)

I am trying to inject metric scale into a vslam algorithm, namely the popular ORB-SLAM2. I have read several papers(1,2) whereby people have successfully calculated scale factor from the actual height ...
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29 views

Use Camera Calibration Matrix without Toolbox

I am doing this little project where try to calibrate a Raspberry Pi Camera. I use Matlab and I do not want to use the Calibration Toolbox (!). The algorithm I use is the direct linear transformarion ...
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20 views

Which is the recommended depth estimation method for under vehicle scanning?

There are many ways to estimate depth e.g. Structural light based solutions Time-of-flight (ToF) cameras LiDAR Stereo cameras Computer Vision image based methods Monocular models such as monodepth2 ...
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12 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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17 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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21 views

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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25 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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126 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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17 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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19 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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1answer
39 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
246 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 ...