Research Topics
For more information, check http://vigir.missouri.edu
Assembly 'on-the-fly'
Vision-Guided Automation without stopping
the Assembly Lines
Kawasaki UX150 (Industrial Robot)
Kawasaki UX150 (Industrial Robot)
Appearance-Based
Object Modelling
Object Recognition and Pose Estimation using Appearance Models
3D Modelling
3D Models from Structured-Light Scanners
Multi-view Stereopsis from
Virtual Cameras
(a)
(d)
(f)
(e)
(g)
(c)
(b)
(a), (b) and (c) quality of the 3D model as we increase the number of virtual cameras;
(d) and (f) real objects; (e) and (g) corresponding 3D models with error < 1mm
Plant Phenotyping
Real plant
3D Model used for analysis of
their phenotype
Real-Time Tracking
Tracking and Pose Estimation in Real-Time
using Appearance-based and Geometric Models
Multi-Target Identification and
Geo-Location in Airborne Video
Motion detection, Tracking, and Geo-Location of
Moving Targets – from airborne video (right: MU UAV)
Multi-Target Identification and
Geo-Location in Airborne Video
1. Extract OF on feature points
4. Subtract BG flow from
the entire OF
2. Analyze histogram of OF
5. Target Detection
3. Identify BG flow
Multi-Target Identification and
Geo-Location in Airborne Video
Altitude Estimation and Target GeoLocation from Monocular Vision
Inertial frame
x
Y
Z
Ct-d
Ct
It-d
It
h
Ps
Figure 6: Feature points available
on the ground
Figure 7: Altitude estimation using
stereo camera positions.
Human-Robot Interfaces Using
Augmented and Virtual Reality
Environments (“Holodeck”)
New human-robot interfaces for teaching and tele-operating robots to
perform tedious and hazardous tasks, e.g.: assembly, rescue
missions, maintenance, deep seas/space exploration, etc…
The Holodeck
View of the Holodeck at the University of Missouri-Columbia (ViGIR Lab)
(Shown: four of the surrounding cameras and the “virtual mirror”)
Human Motion Capture
for Action Recognition
• Step 1: Robust Silhouette Extraction Using Adaptive
Local PCA
Image Space
Eigen Sub-Space
Human Motion Capture
for Action Recognition
• Step 1: Robust Silhouette Extraction Using Adaptive
Local PCA
Human Motion Capture
for Action Recognition
• Step 2: 3D Human Motion Capture from 2D Images
3D Human
Model
(27 DOF)
2D Image
Observation
Human Motion Capture
for Action Recognition
Human Motion Capture
for Action Recognition
Compact 3D Representation
using Octrees and Motion Vectors
Human motion is captured, analysed and partitioned into cubes, or nodes of an
Octree.
Mobile Robot Navigation
Homography-based Ground
Plane Detection
Fast Path Planning using GPUs
for the calculation of
Harmonic Fields
Virtual Machines Specialized
in Image Processing
Cellular Neural Network Virtual Machine Using Graphics Processors
(GPUs) for Applications in Image Processing