By Henrik I. Christensen
Computer imaginative and prescient has now reached a degree of adulthood that enables us not just to accomplish examine on person equipment but additionally to construct absolutely built-in laptop imaginative and prescient structures of a signi cant complexity. This opens up a few new difficulties relating to architectures, structures integration, validation of - stems utilizing benchmarking innovations, etc. to date, nearly all of imaginative and prescient meetings have concerned about part applied sciences, which has prompted the association of the 1st overseas convention on desktop imaginative and prescient structures (ICVS). it's our wish that the convention will enable us not just to determine a couple of attention-grabbing new imaginative and prescient recommendations and structures yet confidently additionally to de ne the examine matters that have to be addressed to pave the way in which for extra wide-scale use of computing device imaginative and prescient in a various set of real-world purposes. ICVS is prepared as a single-track convention together with fine quality, p- viously unpublished, contributed papers on new and unique examine on c- puter imaginative and prescient platforms. All contributions may be awarded orally. a complete of sixty five papers have been submitted for attention by means of the convention. All papers have been - considered through 3 reviewers from this system committee. Thirty-two of the papers have been chosen for presentation. ICVS’99 is being held on the Alfredo Kraus Auditorium and conference Centre, in Las Palmas, at the gorgeous Canary Islands, Spain. The atmosphere is spri- like, which turns out merely applicable because the foundation for a brand new conference.
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Extra info for Computer Vision Systems: First International Conference, ICVS’ 99 Las Palmas, Gran Canaria, Spain, January 13–15, 1999 Proceedings
9. Results of the line detection process. So far we use a PID for the heading control, while the linear velocity is kept constant independently of the visual information. The current control frequency is about 1 Hz. Another relevant aspect is that we propagate the uncertainty information from the edge localization errors all the way till the determination of the vanishing point coordinates . This uncertainty measurement, σ 2ixv , can be used not only to validate the extraction of the corridor guidelines but also to modulate the control gains as a function of the reliability of the visual measurements.
7. Top: change of ixv when the robot orientation changes. Bottom : δx as a function of the robot position. 5 Fig. 8. Simulation of the robot control when only the vanishing point is used (left) or when δx is also included (right). – Extract the vertical and horizontal image gradient components; – Select the points that have significant horizontal and vertical gradient information. This procedure keeps only edge points that have diagonal directions. – Separate this point set in the subsets of positive gradient orientation and negative gradient orientation.
Vassallo, and H. Schneebeli 800 40 700 20 std: dashed line e:solid line 0 600 −20 500 Y −40 0 20 40 60 80 20 40 60 80 400 t 100 120 140 160 180 100 120 140 160 180 30 300 heading 15 200 100 0 0 −15 −50 0 X 50 −30 0 t Fig. 11. Left: Robot trajectory during the maneuver (cm). Top right : horizontal coordinate of the vanishing point and propagated standard variation estimate (both in pixels). Bottom right: robot heading (degrees) during the experiment. Fig. 12. Navigation results on an office floor.
Computer Vision Systems: First International Conference, ICVS’ 99 Las Palmas, Gran Canaria, Spain, January 13–15, 1999 Proceedings by Henrik I. Christensen