Monocular vision

About: Monocular vision is a research topic. Over the lifetime, 2667 publications have been published within this topic receiving 48827 citations.

Extent of recovery from the effects of visual deprivation in kittens.

Abstract: Seven kittens were used, and the various procedures of deprivation and subsequent studies are summarized in Table 1. In six animals the Iids of one eye were closed for the first 3 months of life. In the recovery period two of these kittens had the deprived eye opened. The other four had the deprived eye opened and the other (previously open) eye was closed. The seventh animal had both eyes closed for 3 months; the right eye was then opened. Recovery periods

Researches in binocular vision.

Abstract: Original orange cloth cover, 345 pages, 182 figures in text. This is an original printing in 1950. The Nathan Library holds a copy of the 1964 reprint (cat No 509).

Scale Drift-Aware Large Scale Monocular SLAM

Abstract: State of the art visual SLAM systems have recently been presented which are capable of accurate, large-scale and real-time performance, but most of these require stereo vision. Important application areas in robotics and beyond open up if similar performance can be demonstrated using monocular vision, since a single camera will always be cheaper, more compact and easier to calibrate than a multi-camera rig. With high quality estimation, a single camera moving through a static scene of course effectively provides its own stereo geometry via frames distributed over time. However, a classic issue with monocular visual SLAM is that due to the purely projective nature of a single camera, motion estimates and map structure can only be recovered up to scale. Without the known inter-camera distance of a stereo rig to serve as an anchor, the scale of locally constructed map portions and the corresponding motion estimates is therefore liable to drift over time. In this paper we describe a new near real-time visual SLAM system which adopts the continuous keyframe optimisation approach of the best current stereo systems, but accounts for the additional challenges presented by monocular input. In particular, we present a new pose-graph optimisation technique which allows for the efficient correction of rotation, translation and scale drift at loop closures. Especially, we describe the Lie group of similarity transformations and its relation to the corresponding Lie algebra. We also present in detail the system’s new image processing front-end which is able accurately to track hundreds of features per frame, and a filter-based approach for feature initialisation within keyframe-based SLAM. Our approach is proven via large-scale simulation and real-world experiments where a camera completes large looped trajectories.

Real-time markerless tracking for augmented reality: the virtual visual servoing framework

Abstract: Tracking is a very important research subject in a real-time augmented reality context. The main requirements for trackers are high accuracy and little latency at a reasonable cost. In order to address these issues, a real-time, robust, and efficient 3D model-based tracking algorithm is proposed for a "video see through" monocular vision system. The tracking of objects in the scene amounts to calculating the pose between the camera and the objects. Virtual objects can then be projected into the scene using the pose. In this paper, nonlinear pose estimation is formulated by means of a virtual visual servoing approach. In this context, the derivation of point-to-curves interaction matrices are given for different 3D geometrical primitives including straight lines, circles, cylinders, and spheres. A local moving edges tracker is used in order to provide real-time tracking of points normal to the object contours. Robustness is obtained by integrating an M-estimator into the visual control law via an iteratively reweighted least squares implementation. This approach is then extended to address the 3D model-free augmented reality problem. The method presented in this paper has been validated on several complex image sequences including outdoor environments. Results show the method to be robust to occlusion, changes in illumination, and mistracking.

Interocular rivalry revealed in the human cortical blind-spot representation.

Abstract: To understand conscious vision, scientists must elucidate how the brain selects specific visual signals for awareness. When different monocular patterns are presented to the two eyes, they rival for conscious expression such that only one monocular image is perceived at a time1,2. Controversy surrounds whether this binocular rivalry reflects neural competition among pattern representations or monocular channels3,4. Here we show that rivalry arises from interocular competition, using functional magnetic resonance imaging of activity in a monocular region of primary visual cortex corresponding to the blind spot. This cortical region greatly prefers stimulation of the ipsilateral eye to that of the blind-spot eye. Subjects reported their dominant percept while viewing rivalrous orthogonal gratings in the visual location corresponding to the blind spot and its surround. As predicted by interocular rivalry, the monocular blind-spot representation was activated when the ipsilateral grating became perceptually dominant and suppressed when the blind-spot grating became dominant. These responses were as large as those observed during actual alternations between the gratings, indicating that rivalry may be fully resolved in monocular visual cortex. Our findings provide the first physiological evidence, to our knowledge, that interocular competition mediates binocular rivalry, and indicate that V1 may be important in the selection and expression of conscious visual information.