Category: Computer Vision
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Triangulate 3D points from 3D imagepoints from a moving camera
Given two image-points from two different positions of a camera, we want to calculate the 3D coordinate that this point is located at in the world. This is highly related to Structure from Motion (sfm) approaches, where we try to create a dense 3d point-cloud using consecutive images (of course this will only work if…
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Groundtruth data for Computer Vision with Blender
In the video below you can see the sequence of a car driving in a city scene and braking. The layers I rendered out for groundtruth data are the rendered image with the boundingbox of the car (top left), the emission layer ( shows the brakelights when they start to emit light, top right ),…
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Displacement priors
What is the target of all this ? Driving in an automotive scenario with a given speed and turnrate at any moment, we want to predict the displacement of a 2D-projection (pixel) between two frames: By using the camera-calibration, I can create artificial curves and walls as 3D point-sets and project them back to 2D.…
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Symmetry detection
This will probably become one of our modalities in the future: symmetry ! Thanks to the guys at hs-niederrhein, there is symmetry-detection-code that can already be used for some first estimates: This software implements the gradient product transform for symmetry detection that is described in the paper C. Dalitz, R. Pohle-Froehlich, F. Schmitt, M. Jeltsch:…
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Lane detection
Today I will try to detect some lanes.. Assumptions: – We know the lane-width (plus minus) – We are inside the middle of a lane – We know the camera geometry – Based on the turnrate of the IMU we can estimate the curvature of the street – A line in pixels can be detected…