We propose a flexible technique to easily calibrate a camera. It only requires the camera to observe a planar pattern shown at a few (at least two) different orientations. Either the camera or the planar pattern can be freely moved. The motion need not be known. Radial lens distortion is modeled. The proposed procedure consists of a closed-form solution, followed by a nonlinear refinement based on the maximum likelihood criterion. Both computer simulation and real data have been used to test the proposed technique and very good results have been obtained. Compared with classical techniques which use expensive equipment such as two or three orthogonal planes, the proposed technique is easy to use and flexible. It advances 3D computer vision one more step from laboratory environments to real world use.

https://www.microsoft.com/en-us/research/wp-content/uploads/2016/02/tr98-71.pdf

A flexible new technique for camera calibration

Humans perceive the three-dimensional structure of the world with apparent ease. However, despite all of the recent advances in computer vision research, the dream of having a computer interpret an image at the same level as a two-year old remains elusive. Why is computer vision such a challenging problem and what is the current state of the art? Computer Vision: Algorithms and Applications explores the variety of techniques commonly used to analyze and interpret images. It also describes challenging real-world applications where vision is being successfully used, both for specialized applications such as medical imaging, and for fun, consumer-level tasks such as image editing and stitching, which students can apply to their own personal photos and videos. More than just a source of recipes, this exceptionally authoritative and comprehensive textbook/reference also takes a scientific approach to basic vision problems, formulating physical models of the imaging process before inverting them to produce descriptions of a scene. These problems are also analyzed using statistical models and solved using rigorous engineering techniques Topics and features: structured to support active curricula and project-oriented courses, with tips in the Introduction for using the book in a variety of customized courses; presents exercises at the end of each chapter with a heavy emphasis on testing algorithms and containing numerous suggestions for small mid-term projects; provides additional material and more detailed mathematical topics in the Appendices, which cover linear algebra, numerical techniques, and Bayesian estimation theory; suggests additional reading at the end of each chapter, including the latest research in each sub-field, in addition to a full Bibliography at the end of the book; supplies supplementary course material for students at the associated website, http://szeliski.org/Book/. Suitable for an upper-level undergraduate or graduate-level course in computer science or engineering, this textbook focuses on basic techniques that work under real-world conditions and encourages students to push their creative boundaries. Its design and exposition also make it eminently suitable as a unique reference to the fundamental techniques and current research literature in computer vision.

/pdf/computer-vision-algorithms-and-applications-25dn6wu83j.pdf

Computer Vision: Algorithms and Applications

The problem of the approximation of nonlinear mapping, (especially continuous mappings) is considered. Regularization theory and a theoretical framework for approximation (based on regularization techniques) that leads to a class of three-layer networks called regularization networks are discussed. Regularization networks are mathematically related to the radial basis functions, mainly used for strict interpolation tasks. Learning as approximation and learning as hypersurface reconstruction are discussed. Two extensions of the regularization approach are presented, along with the approach's corrections to splines, regularization, Bayes formulation, and clustering. The theory of regularization networks is generalized to a formulation that includes task-dependent clustering and dimensionality reduction. Applications of regularization networks are discussed. >

Networks for approximation and learning

Proposes a flexible new technique to easily calibrate a camera. It only requires the camera to observe a planar pattern shown at a few (at least two) different orientations. Either the camera or the planar pattern can be freely moved. The motion need not be known. Radial lens distortion is modeled. The proposed procedure consists of a closed-form solution followed by a nonlinear refinement based on the maximum likelihood criterion. Both computer simulation and real data have been used to test the proposed technique, and very good results have been obtained. Compared with classical techniques which use expensive equipment, such as two or three orthogonal planes, the proposed technique is easy to use and flexible. It advances 3D computer vision one step from laboratory environments to real-world use. The corresponding software is available from the author's Web page ( ).

/pdf/flexible-camera-calibration-by-viewing-a-plane-from-unknown-5aq7w8qyj2.pdf

Flexible camera calibration by viewing a plane from unknown orientations

The idea of ensemble methodology is to build a predictive model by integrating multiple models. It is well-known that ensemble methods can be used for improving prediction performance. Researchers from various disciplines such as statistics and AI considered the use of ensemble methodology. This paper, review existing ensemble techniques and can be served as a tutorial for practitioners who are interested in building ensemble based systems.

https://www.ise.bgu.ac.il/faculty/liorr/AI.pdf

Ensemble-based classifiers

In this article a new method for the calibration of a vision system which consists of two (or more) cameras is presented. The proposed method, which uses simple properties of vanishing points, is divided into two steps. In the first step, the intrinsic parameters of each camera, that is, the focal length and the location of the intersection between the optical axis and the image plane, are recovered from a single image of a cube. In the second step, the extrinsic parameters of a pair of cameras, that is, the rotation matrix and the translation vector which describe the rigid motion between the coordinate systems fixed in the two cameras are estimated from an image stereo pair of a suitable planar pattern. Firstly, by matching the corresponding vanishing points in the two images the rotation matrix can be computed, then the translation vector is estimated by means of a simple triangulation. The robustness of the method against noise is discussed, and the conditions for optimal estimation of the rotation matrix are derived. Extensive experimentation shows that the precision that can be achieved with the proposed method is sufficient to efficiently perform machine vision tasks that require camera calibration, like depth from stereo and motion from image sequence.

Using vanishing points for camera calibration

Spontaneous behavioural changes in response to epidemics

The identifiers chosen by programmers as entity names contain valuable information They are often the starting point for the program understanding activities, especially when high-level views, like the call graph, are availableIn this paper, an approach for the restructuring of program identifier names is proposed, aimed at improving their meaningfulness It considers two forms of standardization, associated respectively to the lexicon of the composing terms and to the syntax of their arrangement Automatic and semiautomatic techniques are described which can help the restructuring intervention Their application to a real world case study is also presented

Restructuring Program Identifier Names

Two aspects of edge detection are analyzed, namely accuracy of localization and sensitivity to noise. The detection of corners and trihedral vertices is analyzed for gradient schemes and zero-crossing schemes. It is shown that neither scheme correctly detects corners of trihedral vertices, but that the gradient schemes are less sensitive to noise. A simple but important conclusion is that the noise present in digital images of typical indoor scenes is small and the signal-to-noise ratio is high. The noise present in digital images is so small as to make the performances of a variety of filters almost indistinguishable. As a consequence small filters can be used and the exact shape of the filter is not critical. >

Localization and noise in edge detection

Traceability is a key issue to ensure consistency among software artifacts of subsequent phases of the development cycle. However, few works have so far addressed the theme of tracing object oriented (OO) design into its implementation and evolving it. This paper presents an approach to checking the compliance of OO design with respect to source code and support its evolution. The process works on design artifacts expressed in the OMT (Object Modeling Technique) notation and accepts Cpp source code. It recovers an “as is” design from the code, compares the recovered design with the actual design and helps the user to deal with inconsistencies. The recovery process exploits the edit distance computation and the maximum match algorithm to determine traceability links between design and code. The output is a similarity measure associated to designdcode class pairs, which can be classified as matched and unmatched by means of a maximum likelihood threshold. A graphic display of the design with different green levels associated to different levels of match and red for the unmatched classes is provided as a support to update the design and improve its traceability to the code.

http://www.sdml.cs.kent.edu/library/Antoniol00e.pdf

Bruno Caprile

Papers

Using vanishing points for camera calibration

Spontaneous behavioural changes in response to epidemics

Restructuring Program Identifier Names

Localization and noise in edge detection

Design-code traceability for object-oriented systems