Accurate 3d perception from video sequences is a core subject in computer vision and robotics, since it forms the basis of subsequent scene analysis. In practice however, online requirements often severely limit the utilizable camera resolution and hence also reconstruction accuracy. Furthermore, real-time systems often rely on heavy parallelism which can prevent applications in mobile devices or driver assistance systems, especially in cases where FPGAs cannot be employed. This paper proposes a novel approach to build 3d maps from high-resolution stereo sequences in real-time. Inspired by recent progress in stereo matching, we propose a sparse feature matcher in conjunction with an efficient and robust visual odometry algorithm. Our reconstruction pipeline combines both techniques with efficient stereo matching and a multi-view linking scheme for generating consistent 3d point clouds. In our experiments we show that the proposed odometry method achieves state-of-the-art accuracy. Including feature matching, the visual odometry part of our algorithm runs at 25 frames per second, while - at the same time - we obtain new depth maps at 3-4 fps, sufficient for online 3d reconstructions.

/pdf/stereoscan-dense-3d-reconstruction-in-real-time-hogk3wwkzu.pdf

StereoScan: Dense 3d reconstruction in real-time

https://www.cse.unr.edu/~mircea/Publications/mn_cviu07.pdf

Vision-based hand pose estimation: A review

A method of using stereo vision to interface with a computer is provided. The method includes capturing a stereo image, and processing the stereo image to determine position information of an object in the stereo image. The object is controlled by a user. The method also includes communicating the position information to the computer to allow the user to interact with a computer application.

Video-based image control system

This document describes a protocol for Network Address Translator
(NAT) traversal for multimedia session signaling protocols based on
the offer/answer model, such as the Session Initiation Protocol (SIP).
This protocol is called Interactive Connectivity Establishment (ICE).
ICE makes use of existing protocols, such as Simple Traversal of UDP
Through NAT (STUN) and Traversal Using Relay NAT (TURN). ICE makes use
of STUN in peer-to-peer cooperative fashion, allowing participants to
discover, create and verify mutual connectivity.

Interactive Connectivity Establishment (ICE): A Protocol for Network Address Translator (NAT) Traversal for Offer/Answer Protocols

This paper presents a new appearance-based place recognition system for topological localization. The method uses a panoramic vision system to sense the environment. Color images are classified in real-time based on nearest-neighbor learning, image histogram matching, and a simple voting scheme. The system has been evaluated with eight cross-sequence tests in four unmodified environments, three indoors and one outdoors. In all eight cases, the system successfully tracked the mobile robot's position. The system correctly classified between 87% and 98% of the input color images. For the remaining images, the system was either momentarily confused or uncertain, but never classified an image incorrectly.

/pdf/appearance-based-place-recognition-for-topological-44h99tdrb1.pdf

Appearance-based place recognition for topological localization

This paper describes a visually guided robot that can plan paths, construct maps and explore an indoor environment. The robot uses a trinocular stereo vision system to produce highly accurate depth images at 2 Hz allowing it to safely travel through the environment at 0.5 m/s. The algorithm integrates stereo vision, occupancy grid mapping, and potential field path planning techniques to form a robust and cohesive robotic system for mapping and navigation. Stereo vision is shown to be a viable alternative to active sensing devices such as sonar and laser range finders.

/pdf/stereo-vision-based-mapping-and-navigation-for-mobile-robots-57x5cdeh54.pdf

Stereo vision based mapping and navigation for mobile robots

Spam, defined as the transmission of bulk unsolicited messages, has
plagued Internet email. Unfortunately, spam is not limited to email.
It can affect any system that enables user to user communications. The
Session Initiation Protocol (SIP) defines a system for user to user
multimedia communications. Therefore, it is susceptible to spam, just
as email is. In this document, we analyze the problem of spam in SIP.
We first identify the ways in which the problem is the same and the
ways in which it is different from email. We then examine the various
possible solutions that have been discussed for email and consider
their applicability to SIP.

/pdf/the-session-initiation-protocol-sip-and-spam-4itbhh2j05.pdf

The Session Initiation Protocol (SIP) and Spam

The existing security mechanisms in the Session Initiation Protocol
(SIP) are inadequate for cryptographically assuring the identity of
the end users that originate SIP requests, especially in an
interdomain context. This document defines a mechanism for securely
identifying originators of SIP messages. It does so by defining two
new SIP header fields, Identity, for conveying a signature used for
validating the identity, and Identity-Info, for conveying a reference
to the certificate of the signer. [STANDARDS-TRACK]

/pdf/enhancements-for-authenticated-identity-management-in-the-3b2hepldim.pdf

Enhancements for Authenticated Identity Management in the Session Initiation Protocol (SIP)

A system and method for protecting confidential user information employed in an electronic transaction. The system and method provide for associating an expiration time/time period, use or other use-limiting authorization indicator with a credit card or other user information to be transferred to a user information recipient, in conjunction with a product/service payment or other business transaction with a hosted contact center. Embodiments of the invention further provide for forming a limited-use indicator, such as a use-limiting token, by associating a transaction agent indicator and a use-limiting indicator with the user information, and for verifying a limited use indicator received from a contact center agent and determining according to such indicator, in addition to any ordinary verification that might also be conducted, whether the use limitation has been met and whether the transaction should be authorized in accordance with the use limitation.

System and method for securing transactions in a contact center environment

Voice over IP (VoIP) and instant messaging (IM) systems to date have either followed a client-server model or have required the use of clients that do not follow any VoIP or IM standard. We present SOSIMPLE - a fully decentralized, P2P, standards-based approach to communications. By building on the existing SIP/SIMPLE infrastructure for VoIP and IM, we support reuse of clients, network infrastructure, and open-source protocol stacks designed using current standards. By avoiding traditional centralized architectures, SOSIMPLE addresses corporate privacy concerns, eliminates dependency on constant Internet connectivity, and supports ad hoc groups. SOSIMPLE implements a DHT overlay based on Chord (Stoicha et al., 2001) using SIP messages, replicating location information for reliability. The DHT is used only for lookups, with actual communication passing directly between clients. We discuss important issues for security and authentication, as well as adaptations of conventional P2P routing for the social networks typical of personal communications. We are testing a prototype implementation of SOSIMPLE and anticipate a public release in the near future

/pdf/sosimple-a-serverless-standards-based-p2p-sip-communication-i9fgy6i8tz.pdf

Cullen Jennings

Papers

Stereo vision based mapping and navigation for mobile robots

The Session Initiation Protocol (SIP) and Spam

Enhancements for Authenticated Identity Management in the Session Initiation Protocol (SIP)

System and method for securing transactions in a contact center environment

SOSIMPLE: A Serverless, Standards-based, P2P SIP Communication System