A method for stereo-vision-based tracking for robotic applications

Vision-based tracking of an object using perspective projection inherently results in non-linear measurement equations in the Cartesian coordinates. The underlying object kinematics can be modelled by a linear system. In this paper we introduce a measurement conversion technique that analytically transforms the non-linear measurement equations obtained from a stereo-vision system into a system of linear measurement equations.We then design a robust linear filter around the converted measurement system. The state estimation error of the proposed filter is bounded and we provide a rigorous theoretical analysis of this result. The performance of the robust filter developed in this paper is demonstrated via computer simulation and via practical experimentation using a robotic manipulator as a target. The proposed filter is shown to outperform the extended Kalman filter (EKF).

A novel bipolar time-spread echo hiding based watermarking method for stereo audio signals

In this paper, a novel bipolar time-spread (TS) echo hiding based watermarking method is proposed for stereo audio signals, to overcome the low robustness problem in the traditional TS echo hiding method. At the embedding, echo signals with opposite polarities are added to both channels of the host audio signal. This improves the imperceptibility of the watermarking scheme, since added watermarks have similar effects in both channels. Then decoding part is developed, in order to improve the robustness of the watermarking scheme against common attacks. Since these novel embedding and decoding methods utilize the advantage of two channels in stereo audio signals, it significantly reduces the interference of host signal at watermark extraction which is the main reason for error detection in the traditional TS echo hiding based watermarking under closed-loop attack. The effectiveness of the proposed watermarking scheme is theoretically analyzed and verified by simulations under common attacks. The proposed echo hiding method outperforms conventional TS echo hiding based watermarking when their perceptual qualities are similar.

Touching space : using motion capture and stereo projection to create a virtual haptics of dance

This paper describes the work of a group of artists in Australia who used real-time motion capture and 3D stereo projection to create a large-scale performance environment in which dancers seemed to "touch" the volume. This project re-versions Suzanne Langer's 1950s philosophy of dance as "virtual force" to realize the idea of a "virtual haptics" of dance that extends the dancer's physical agency literally across and through the surrounding spatial volume. The project presents a vision of interactive dance performance that "touches" space by visualizing kinematics as intentionality and agency. In doing so, we suggest the possibility of new kinds of human-computer interfaces that emphasize touch as embodied, nuanced agency that is mediated by the subtle qualities of whole-body movement, in addition to more goal-oriented, task-based gestures such as pointing or clicking.

A robust solution to the stereo-vision-based simultaneous localization and mapping problem with steady and moving landmarks

The problem of visual simultaneous localization and mapping (SLAM) is examined in this paper using recently developed ideas and algorithms from modern robust control and estimation theory. A nonlinear model for a stereo-vision-based sensor is derived that leads to nonlinear measurements of the landmark coordinates along with optical flow-based measurements of the relative robot-landmark velocity. Using a novel analytical measurement transformation, the nonlinear SLAM problem is converted into the linear domain and solved using a robust linear filter. Actually, the linear filter is guaranteed stable and the SLAM state estimation error is bounded within an ellipsoidal set. A mathematically rigorous stability proof is given that holds true even when the landmarks move in accordance with an unknown control input. No similar results are available for the commonly employed extended Kalman filter, which is known to exhibit divergence and inconsistency characteristics in practice. A number of illustrative examples are given using both simulated and real vision data that further validate the proposed method.

Shifting ground in some Australian photography

This is a report of a practice-as-research project. The chapter outlines McArdle's discoveries of means by which the pre-conscious processes of binocular vision and steropsis can be made visible in an effect which with one-eyed vision renders the scene 3-dimensional.

In the book's introduction editor Mehigan writes "[The] will to creation is only assayable once we estimate the role of the observer in the construction of space. McArdle's contribution, in engaging with the question of the animating presence of the observer focuses not just on what is caught in the lens of the photographer at the moment of depiction, but how the photographer's movement through space is the 'force field' that insinuates itself into the landscape and enters into a reciprocal relationship with it. The schematism of Euclidean geometry, for this reason, cannot account for the truth of the photographer's images; McArdle's metaphors are singularly non-Euclidean in their description of how objects are held together in the imaginative space of mental awareness."

Double horizons : shifting figure and ground in some Australian photography

Representing images by means of interval-valued fuzzy sets. Application to stereo matching

Stereo matching tries to find correspondences between locations in a pair of displaced images of the same scene in order to extract the underlying depth information. Pixel correspondence estimation suffers from occlusions, noise or bias. In this work, we introduce a novel approach to represent images by means of interval-valued fuzzy sets to overcome the uncertainty due to the above mentioned problems. Our aim is to take advantage of this representation in the stereo matching algorithm. The image interval-valued fuzzification process that we propose is based on image segmentation in a different way to the common use of segmentation in stereo vision. We introduce interval-valued fuzzy similarities to compare windows whose pixels are represented by intervals. In the experimental analysis we show the goodness of this representation in the stereo matching problem. The new representation together with the new similarity measure that we introduce shows a better overall behavior with respect to other very well-known methods.

3D sparse feature model using short baseline stereo and multiple view registration

This paper outlines a methodology to generate a distinctive object representation offline, using short-baseline stereo fundamentals to triangulate highly descriptive object features in multiple pairs of stereo images. A group of sparse 2.5D perspective views are built and the multiple views are then fused into a single sparse 3D model using a common 3D shape registration technique. Having prior knowledge, such as the proposed sparse feature model, is useful when detecting an object and estimating its pose for real-time systems like augmented reality.

Echo hiding based stereo audio watermarking against pitch-scaling attacks

In audio watermarking, the robustness against pitch-scaling attack, is one of the most challenging problems. In this paper, we propose an algorithm, based on traditional time-spread(TS) echo hiding based audio watermarking to solve this problem. In TS echo hiding based watermarking, pitch-scaling attack shifts the location of pseudonoise (PN) sequence which appears in the cepstrum domain. Thus, position of the peak, which occurs after correlating with PN-sequence changes by an un-known amount and that causes the error. In the proposed scheme, we replace PN-sequence with unit-sample sequence and modify the decoding algorithm in such a way it will not depend on a particular point in cepstrum domain for extraction of watermark. Moreover proposed algorithm is applied to stereo audio signals to further improve the robustness. Experimental results illustrate the effectiveness of the proposed algorithm against pitch-scaling attacks compared to existing methods. In addition to that proposed algorithm also gives better robustness against other conventional signal processing attacks.

Stereo vision and wavelets/multiwavelets analysis : 3d reconstruction using wavelets/multiwavelets theory and stereo vision

During the image formation process of the camera, explicit 3D information about the scene or objects in the scene are lost. Therefore, 3D structure or depth information has to be inferred implicitly from the 2D intensity images. This problem is com- monly referred to as 3D reconstruction. In this work a complete 3D reconstruction algorithm is presented, capable of reconstructing dimensionally accurate 3D models of the objects, based on stereo vision and multi-resolution analysis. The developed system uses a reference depth model of the objects under observation to improve the disparity maps, estimated. Only a few features are extracted from that reference model, which are the relative location of the discontinuities and the z-dimensional extremes of objects depth. The maximum error deviation of the estimated depth along the surfaces is less than 0.5mm and along the discontinuities is less than 1.5mm. The developed system is invariant to illuminative variations, and orientation, location and scaling of the objects under consideration, which makes the developed system highly robust.

Vision, ambiguity and perceptual possibility : why pictures matter in the critique of stereo-immersive VR

The acquisition of three-dimensional immersive space through advanced digitial imaging technology, suggests a profound shift from the relatively impoverished representational stratgies of two-dimensional pictorial imagery.  This entails an epistemological shift from pictorial representation, to the presentation of actual three-dimensional space through stereoscopic (3D) imagery.  Moreover, it suggests that visuality rather than 'virtuality' is the core issue in understanding the nature of the epistemological shift associated with stereo-immersive VR.

A shift in visual epistemology from 'flat' pictorial representation to three-dimensional stereo-immersion suggests a gainful move toward a visuality imbued with spatial possibilities.  In quantitative terms, these visual-spatial gains may seem self-evident.  However, certain aspects peculiar to pictorial representation are missing from stereo-immersive imaging.  That is lost in stereo-immersive imaging, and how it can be measured?

This thesis proposes that the inherent ambiguity of two-dimensional representations of three-dimensional spatial structure in pictures, invokes a perceptual response in which pictorial spaces elicit 'perceptual possibility'.  The robust three-dimentional spatiality of stereo-immersvie VR foreclosures such possibility.  Through examining stereo-immersive VR in terms of its visuality, the thesis develops a new appraoch to understanding VR that solves some of the issues associated with the problematic concept of 'virtuality'.  In addition, the thesis finds that by placing stereo-immersive VR and pictures within the shared paradigm of 'the visual', an important dimension of pictures that has been overlooked in past analyses re-emerges : the thesis proposes the concept of 'artifactuality' to account for the way pictures are fundamentally, and in the first instance, aesthetic objects for visual perception.  It is in their manner of appearing as pictures, that they are perceived as pictures of something.  It is from this fundamental basis that their many levels of meaning and signification - their manifold 'realisms' - can arise.

This thesis therefore addresses two intersecting problems within the paradigm of the visual: it proposes 1) that analyses of 'the virtual' be grounded in the 'artifactuality' of pictorial perception, and 2) that the spatiality of stereo-immersive VR be reinvigorated by purposefully 'under-contraining' its key percept - the robust, 'solid' stereoscopic structuring of visual space.  This approach opens up the discourse of stereo-immersive VR to new visual paradigms.  The thesis proposes that these be modelled not on the impossibility of 'the virtual', but on the possibilities of visual ambiguity drawn from the analysis of pictorial perception.

Generation of 3D sparse feature models using multiple stereo views

Augmented Reality (AR) renders virtual information onto objects in the real world. This new user interface paradigm presents a seamless blend of the virtual and real, where the convergence of the two is difficult to discern. However, errors in the registration of the real and virtual worlds are common and often destroy the AR illusion. To achieve accurate and efficient registration, the pose of real objects must be resolved in a quick and precise manner.

Modeling of a stereo vision system using a genetic algorithm based fuzzy linear regression

In this paper a fuzzy linear regression (FLR) model integrated with a genetic algorithm (GA) is proposed. The proposed GA-FLR model is applied to modeling of a stereo vision system. A set of empirical data from stereo vision object measurement is collected based on the full factorial design technique. Three regression models, namely ordinary least-squares regression (OLS), FLR, and GA-FLR, are developed, and with their performances compared. The results show that the proposed GA-FLR model performs better than OLS and FLR in modeling of a stereo vision system.

Instrumental vision

This chapter interrogates stereo-immersive ‘virtual reality’ (VR), the technology that enables a perceiver to experience what it is like to be immersed in a simulated environment. While the simulation is powered by the “geometry engine” (Cutting, 1997: 31) associated with high-end computer imaging technology, the visual experience itself is powered by ordinary human vision: the vision system’s innate capacity to see “in 3D”. To understand and critically appraise stereo-immersive VR, we should study not its purported ‘virtuality’, but its specific visuality, because the ‘reality’ of a so-called ‘virtual environment’ is afforded by the stereoacuity of binocular vision itself. By way of such a critique of the visuality of stereo-immersive VR, this chapter suggests that we think about the ‘practice’ of vision, and consider on what basis vision can have its own ‘materiality’. Pictorial perception is proposed as an exemplary visual mode in which the possibilities of perception might emerge. Against the ‘possibilities’ of vision associated with pictures, the visuality of stereo-immersive VR emerges as a harnessing, or ‘instrumentalisation’ of vision’s innate capabilities. James J. Gibson’s ‘ecological’ approach to vision studies is referenced to show the degree to which developers of VR have sought — and succeeded — to mimic the ‘realness’ of ordinary perceptual reality. This raises a question concerning whether the success of stereo-immersive VR is simultaneously the source of its own perceptual redundancy: for to bring into being the perceptual basis of ordinary ‘real’ reality, is to return the perceiver to what is already familiar and known.