0000000000876664
AUTHOR
J. Pelechano
VIGIL System: A Computer Vision-Based AID System. Evaluation in a Ring Motorway Section in Madrid
Abstract The VIGIL system is an Automatic Incident and Congestion Detection System based on computer vision technology tor motorway applications. VIGIL is constituted by two main modules, the Local Sensor Module and the Central System module. The objective of this paper is to describe the VIGIL Central System functions, mainly the alarm filtering and management capabilities, and to present the field trial currently carried out in Madrid within the ARTIS project (Advanced RTI in Spain) supported by the Tranport Telematic Programme of the EC.
Measurement and storage of a network of jacobians as a method for the visual positioning of a robot arm
The goal of this paper is to describe a method to position a robot arm at any visible point of a given workspace without an explicit on line use of the analytical form of the transformations between real space and camera coordinates (camera calibration) or between cartesian and joint coordinates (direct or inverse kinematics of the robot arm). The formulation uses a discrete network of points distributed all over the workspace in which a procedure is given to measure certain Jacobian matrices which represent a good local linear approximation to the unknown compound transformation between camera and joint coordinates. This approach is inspired by the biological observation of the vestibulo-o…
Detecting motion independent of the camera movement through a log-polar differential approach
This paper is concerned with a differential motion detection technique in log-polar coordinates which allows object motion tracking independently of the camera ego-motion when camera focus is along the movement direction. The method does not use any explicit estimation of the motion field, which can be calculated afterwards at the moving points. The method, previously formulated in Cartesian coordinates, uses the log-polar coordinates, which allows the isolation of the object movement from the image displacement due to certain camera motions. Experimental results on a sequence of real images are included, in which a moving object is detected and optical flow is calculated in log-polar coord…