INSTITUTO DESISTEMAS EROBÓTICA

http://www.isr.ist.utl.pt/labs/vislab Computer and Robot Vision Laboratory

OMNIVIEWS DEMOS

• SURVEILLANCE DEMOS

•TRANSMISSION DEMO

•NAVIGATION DEMOS

INSTITUTO DESISTEMAS EROBÓTICA

http://www.isr.ist.utl.pt/labs/vislab Computer and Robot Vision Laboratory

Visual Tracking with Omnidirectional Sensors

Alexandre Bernardino, José Santos-Victor

Instituto Superior Técnico

The algorithm:Minimize the SSD.Test hypothesis of main translational motion. Consider other small deformations (e.g. rotation, scale) to

cope with deviations from model.Applications:

Robot navigation: track landmarks. Robot heading is directly related to target image position.

Video Conferencing/Surveillance: keep attention focus on people/faces.

INSTITUTO DESISTEMAS EROBÓTICA

http://www.isr.ist.utl.pt/labs/vislab Computer and Robot Vision Laboratory

• Demos:– Robot Navigation

– Visual Surveillance

Visual Tracking with Omnidirectional Sensors

INSTITUTO DESISTEMAS EROBÓTICA

http://www.isr.ist.utl.pt/labs/vislab Computer and Robot Vision Laboratory

Motion detection Stefan Gaechter, Tomas Pajdla, Branislav

MicusikCzech Technical University in Prague

- Motion detection by background subtraction- OMNIVIEWS 110 x 252 uniform resolution images- Matlab implementation ~ 2-3 fps

INSTITUTO DESISTEMAS EROBÓTICA

http://www.isr.ist.utl.pt/labs/vislab Computer and Robot Vision Laboratory

OMNIVIEWS DEMOS

• SURVEILLANCE DEMOS

•TRANSMISSION DEMO

•NAVIGATION DEMOS

INSTITUTO DESISTEMAS EROBÓTICA

http://www.isr.ist.utl.pt/labs/vislab Computer and Robot Vision Laboratory

Transmission Demo

LaptopLaptop

IP Service ProviderIP Service Provider

VSR - ServerVSR - Server

Omniviews Camera(Observit office)

Omniviews Camera(Observit office)

Telephone LineTelephone Line

ADSL Internet ConnectionADSL Internet Connection

• Use industry standard codec tools (VSR from Observit)

• Images are processed as conventional one

• Connection with telephone line

• H263 Compression

INSTITUTO DESISTEMAS EROBÓTICA

http://www.isr.ist.utl.pt/labs/vislab Computer and Robot Vision Laboratory

OMNIVIEWS DEMOS

• SURVEILLANCE DEMOS

•TRANSMISSION DEMO

•NAVIGATION DEMOS

INSTITUTO DESISTEMAS EROBÓTICA

http://www.isr.ist.utl.pt/labs/vislab Computer and Robot Vision Laboratory

Visual-based Robot Navigation & Teleoperation using the Omniviews Camera

Niall Winters, José Gaspar & José Santos-VictorInstituto Superior Técnico

• Topological Navigation

• Teleoperation

• Visual Path Following

93 cm

INSTITUTO DESISTEMAS EROBÓTICA

http://www.isr.ist.utl.pt/labs/vislab Computer and Robot Vision Laboratory

1 - Topological Navigation

Closest Match

Current Image

Bird’s eye view

INSTITUTO DESISTEMAS EROBÓTICA

http://www.isr.ist.utl.pt/labs/vislab Computer and Robot Vision Laboratory

2 - Teleoperation method (a): Target direction

Targetforwarddirection

Forwarddirection

INSTITUTO DESISTEMAS EROBÓTICA

http://www.isr.ist.utl.pt/labs/vislab Computer and Robot Vision Laboratory

Forwarddirection

Targetforwarddirection

2 - Teleoperation method (a): Target direction

INSTITUTO DESISTEMAS EROBÓTICA

http://www.isr.ist.utl.pt/labs/vislab Computer and Robot Vision Laboratory

Forwarddirection

Targetforwarddirection

2 - Teleoperation method (a): Target direction

INSTITUTO DESISTEMAS EROBÓTICA

http://www.isr.ist.utl.pt/labs/vislab Computer and Robot Vision Laboratory

Bird’s Eye View

Panoramic View

2 - Teleoperation method (b): Target position

INSTITUTO DESISTEMAS EROBÓTICA

http://www.isr.ist.utl.pt/labs/vislab Computer and Robot Vision Laboratory

3) Navigation: Visual Path Following