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Université de Neuchâtel

Robot Navigation by Panoramic Vision and Attention Guided Features

Bur, A. ; Tapus, A. ; Ouerhani, Nabil ; Siegwar, R. ; Hügli, Heinz

In: Proceedings. 18th International Conference on Pattern Recognition (ICPR), 2006, vol. 1, p. 695-698

In visual-based robot navigation, panoramic vision emerges as a very attractive candidate for solving the localization task. Unfortunately, current systems rely on specific feature selection processes that do not cover the requirements of general purpose robots. In order to fulfil new requirements of robot versatility and robustness to environmental changes, we propose in this paper to perform...

Université de Neuchâtel

Optimal Cue Combination for Saliency Computation: A Comparison with Human Vision

Bur, Alexandre ; Hügli, Heinz

In: Nature Inspired Problem-Solving Methods in Knowledge Engineering (In: Lecture Notes in Computer Science), 2007, vol. 4528, p. 109-118

The computer model of visual attention derives an interest or saliency map from an input image in a process that encompasses several data combination steps. While several combination strategies are possible, not all perform equally well. This paper compares main cue combination strategies by measuring the performance of the considered models with respect to human eye movements. Six main...

Université de Neuchâtel

Dynamic visual attention: competitive versus motion priority scheme

Bur, Alexandre ; Wurtz, Pascal ; Muri, Rene M. ; Hügli, Heinz

In: Proceedings. International Conference Computer Vision Systems (ICVS), 2007, p. 1-10

Defined as attentive process in presence of visual sequences, dynamic visual attention responds to static and motion features as well. For a computer model, a straightforward way to integrate these features is to combine all features in a competitive scheme: the saliency map contains a contribution of each feature, static and motion. Another way of integration is to combine the features in a...

Université de Neuchâtel

Motion integration in visual attention models for predicting simple dynamic scenes

Bur, Alexandre ; Wurtz, Pascal ; Muri, Rene M. ; Hügli, Heinz

In: Human Vision and Electronic Imaging XII (Proceedings of SPIE), 2007, vol. 6492, no. 47, p. 649219- 649229

Visual attention models mimic the ability of a visual system, to detect potentially relevant parts of a scene. This process of attentional selection is a prerequisite for higher level tasks such as object recognition. Given the high relevance of temporal aspects in human visual attention, dynamic information as well as static information must be considered in computer models of visual attention....

Université de Neuchâtel

Self-Positioning Robot Navigation Using Ceiling Image Sequences

Facchinetti Claudio ; Tièche, François ; Hügli, Heinz

In: Proceeding ACCV'95 (Asian Conference on Computer Vision), 1995, vol. 3, p. 814-818

This paper presents the analysis of a vision-based homing behavior that provides self-positioning for a mobile robot using ceiling structures as landmarks. This new behavior enters the navigation approach we developed for mobile robots, which basic idea is to represent the robot spatial knowledge in a topological map, where nodes consist of self-positioning sites and edges may be any reactive...

Université de Neuchâtel

Object modeling by geometric matching for a prospective portable 3D scanner

Hügli, Heinz ; Jost, Timothée

In: Proceedings Neuchatel COST 254 Workshop, 1999, p. 67-70

With the evolution of 3D-scanner technology, the combined measurement of color and geometry of objects and scenes becomes feasible within a portable device. It opens new perspectives for the generation of virtual 3D models and applies to domains like multimedia, museography, reverse engineering... Several scanner technologies and object modeling schemes are possible. This paper discusses some of...

Université de Neuchâtel

A match and merge method for 3D modeling from range images

Hügli, Heinz ; Jost, Timothée

In: 6th International Conference on Signal Processing, 2002, vol. 2, p. 2002

This paper presents a new method for combining several range images to create a complete virtual model of an object. It considers the problem of unpositioned range images which must be registered before their fusion into the final model. The proposed method relies on a modeling which preserves the topology of the range images and introduces a new view fusion algorithm that is coupled with...

Université de Neuchâtel

Geometric matching of 3D objects: assessing the range of successful configurations

Hügli, Heinz ; Schütz, Christian

In: Proceedings, International Conference on Recent Advances in 3-D Digital Imaging and Modeling, 1997, p. 101-106

This paper considers the matching of 3D objects by a geometric approach based on the iterative closest point algorithm (ICP), which, starting from an initial configuration of two rigid objects, iteratively finds their best correspondence. The algorithm does not converge always to the best solution. It can be trapped in a local minimum and miss the optimum matching. While the convergence of this...

Université de Neuchâtel

Geometric matching for free-form 3D object recognition

Hügli, Heinz ; Schütz, Christian ; Semitekos, Dimitrios

In: Proceeding ACCV'95 (Asian Conference on Computer Vision), 1995, p. 1-6

This paper investigates a new approach to the recognition of 3D objects of arbitrary shape. The proposed solution follows the principle of model-based recognition using geometric 3D models and geometric matching. It is an alternative to the classical segmentation and primitive extraction approach and provides a perspective to escape the difficulties found with it when dealing with free-form...

Université de Neuchâtel

3D vision methods and selected experiences in micro and macro applications

Hügli, Heinz ; Mure-Dubois, James

In: Two- and Three-Dimensional Methods for Inspection and Metrology IV (Proceedings of SPIE), 2006, vol. 6382, no. 10, p. 638209- 638216

The paper provides considerations relative to the application of 3D vision methods and presents some lessons learnt in this respect by presenting four 3D vision tasks and discussing the selection of vision sensing devices meant to solving the task. After a short reminder of 3D vision methods of interest for optical range imaging for microvision and macrovision applications, the paper enumerates...