Encontrados 12 documentos, a visualizar página 1 de 2
A biological and real-time framework for hand gestures and head poses
Saleiro, Mário; Farrajota, Miguel; Terzic, Kasim; Rodrigues, J. M. F.; du Buf, J. M. H.Human-robot interaction is an interdisciplinary research area that aims at the development of social robots. Since social robots are expected to interact with humans and understand their behavior through gestures and body movements, cognitive psychology and robot technology must be integrated. In this paper we present a biological and real-time framework for detecting and tracking hands and heads. This framewor...
Biological models for active vision: towards a unified architecture
Terzic, Kasim; Lobato, David; Saleiro, Mário; Martins, Jaime A.; Farrajota, Miguel; Rodrigues, J. M. F.; du Buf, J. M. H.Building a general-purpose, real-time active vision system completely based on biological models is a great challenge. We apply a number of biologically plausible algorithms which address different aspects of vision, such as edge and keypoint detection, feature extraction,optical flow and disparity, shape detection, object recognition and scene modelling into a complete system. We present some of the experiment...
Keypoint clustering using cortical colour opponency
Farrajota, Miguel; Rodrigues, J. M. F.; du Buf, J. M. H.Coloured regions can be segregated by using colour-opponency mechanisms, colour contrast, saturation or luminance. This paper focuses on clustering coloured regions by using colour tuned end-stopped cells. Colouinformation is coded in separate colour channels to convey differently coloured regions. Then, by using multi-scale cortical end-stopped cells tuned to colour, this information is coded in all channels b...
A disparity energy model improved by line, edge and keypoint correspondences
Martins, J. C.; Farrajota, Miguel; Lam, Roberto Célio Lau; Rodrigues, J. M. F.; Tersic, K.; du Buf, J. M. H.Disparity energy models (DEMs) estimate local depth information on the basis ofVl complex cells. Our recent DEM (Martins et al, 2011 ISSPlT261-266) employs a population code. Once the population's cells have been trained with randorn-dot stereograms, it is applied at all retinotopic positions in the visual field. Despite producing good results in textured regions, the model needs to be made more precise, especi...
Multi-scale cortical keypoints for realtime hand tracking and gesture recognition
Farrajota, Miguel; Saleiro, Mário; Tersic, K.; Rodrigues, J. M. F.; du Buf, J. M. H.Human-robot interaction is an interdisciplinary research area which aims at integrating human factors, cognitive psychology and robot technology. The ultimate goal is the development of social robots. These robots are expected to work in human environments, and to understand behavior of persons through gestures and body movements. In this paper we present a biological and realtime framework for detecting and tr...
Disparity energy model with keypoint disparity validation
Farrajota, Miguel; Martins, J. C.; Rodrigues, J. M. F.; du Buf, J. M. H.A biological disparity energy model can estimate local depth information by using a population of V1 complex cells. Instead of applying an analytical model which explicitly involves cell parameters like spatial frequency, orientation, binocular phase and position difference, we developed a model which only involves the cells’ responses, such that disparity can be extracted from a population code, using only a s...
Optical flow by multi-scale annotated keypoints: A biological approach
Farrajota, Miguel; Rodrigues, J. M. F.; du Buf, J. M. H.Optical flow is the pattern of apparent motion of objects in a visual scene and the relative motion, or egomotion, of the observer in the scene. In this paper we present a new cortical model for optical flow. This model is based on simple, complex and end-stopped cells. Responses of end-stopped cells serve to detect keypoints and those of simple cells are used to detect orientations of underlying structures and...
The SmartVision local navigation aid for blind and visually impaired persons
José, João; Farrajota, Miguel; Rodrigues, J. M. F.; du Buf, J. M. H.The SmartVision prototype is a small, cheap and easily wearable navigation aid for blind and visually impaired persons. Its functionality addresses global navigation for guiding the user to some destiny, and local navigation for negotiating paths, sidewalks and corridors, with avoidance of static as well as moving obstacles. Local navigation applies to both in- and outdoor situations. In this article we focus o...
The SmartVision Navigation Prototype for Blind Users
du Buf, J. M. H.; Barroso, João; Rodrigues, J. M. F.; Paredes, Hugo; Farrajota, Miguel; Fernandes, Hugo; José, João; Teixeira, Victor; Saleiro, MárioThe goal of the Portuguese project "SmartVision: active vision for the blind" is to develop a small, portable and cheap yet intelligent and reliable system for assisting the blind and visually impaired while navigating autonomously, both in- and outdoor. In this article we present an overview of the prototype, design issues, and its different modules which integrate GPS and Wi-Fi localisation with a GIS, passiv...
A vision system for detecting paths and moving obstacles for the blind
José, João; Farrajota, Miguel; Rodrigues, J. M. F.; du Buf, J. M. H.In this paper we present a monocular vision system for a navigation aid. The system assists blind persons in following paths and sidewalks, and it alerts the user to moving obstacles which may be on collision course. Path borders and the vanishing point are de-tected by edges and an adapted Hough transform. Opti-cal flow is detected by using a hierarchical, multi-scale tree structure with annotated keypoints. T...
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