Most of the catadioptric cameras rely on the single view-point constraint that is hardly fulfilled. There exists many works on non single viewpoint catadioptric sensors satisfying specific resolutions. The computation of the caustic curve... more
Most of the catadioptric cameras rely on the single view-point constraint that is hardly fulfilled. There exists many works on non single viewpoint catadioptric sensors satisfying specific resolutions. The computation of the caustic curve becomes essential if precision and flexibility are aimed. Existing solutions are unfortunately too specific to a class of curves and need heavy precomputations. This paper presents
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The synchronicity is a strong restriction that in some cases of wide applications can be difficult to obtain. This paper studies the methodology of using a non synchronized camera network. We consider the cases where the frequency of... more
The synchronicity is a strong restriction that in some cases of wide applications can be difficult to obtain. This paper studies the methodology of using a non synchronized camera network. We consider the cases where the frequency of acquisition of each element of the network can be different. The following work introduces a new approach to retrieve the temporal synchronization from the multiple unsynchronized frames of a scene. The mathematical characterization of the D structure of scenes, is used as a tool to estimate synchronization value, combined with a statistical stratum. This paper presents experimental results on real data for each step of synchronization retrieval.
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The synchronization of image sequences acquired by robots swarms is an essential task for localization operations. We address this problem by considering the swarms as dynamic camera networks in which, each robot is reduced to a mobile... more
The synchronization of image sequences acquired by robots swarms is an essential task for localization operations. We address this problem by considering the swarms as dynamic camera networks in which, each robot is reduced to a mobile camera. The synchronicity is a strong restriction that in some cases of wide applications can be dicult to obtain. This paper studies the
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Camera networks are complex vision systems dicult to control if the number of sensors is getting higher. With classic approaches, each camera has to be calibrated and synchronized individually. These tasks are often troublesome because of... more
Camera networks are complex vision systems dicult to control if the number of sensors is getting higher. With classic approaches, each camera has to be calibrated and synchronized individually. These tasks are often troublesome because of spatial constraints, and mostly due to the amount of information that need to be processed. Cameras generally observe overlapping areas, lead- ing to redundant
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This paper describes the team UPMC-CFA that participated to the EuroCup2000 and RoboCup’2000 F180-league competition. We will start by presenting the mechanical and electrical design of our robots. We will then introduce the vision... more
This paper describes the team UPMC-CFA that participated to the EuroCup2000 and RoboCup’2000 F180-league competition. We will start by presenting the mechanical and electrical design of our robots. We will then introduce the vision program explaining the colometric and geometric calibrations it needs. Finally we will explain the implemented behaviour and the way we controled our robots.
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A new efcient matching algorithm dedicated to catadiop- tric sensors is proposed in this paper. The presented ap- proach is designed to overcome the varying resolution of the mirror. The aim of this work is to provide a matcher that gives... more
A new efcient matching algorithm dedicated to catadiop- tric sensors is proposed in this paper. The presented ap- proach is designed to overcome the varying resolution of the mirror. The aim of this work is to provide a matcher that gives reliable results similar to the ones obtained by classical operators on planar projection images. The matching is based on a dynamical size windows extrac- tion, computed from the viewing angular aperture of the neighborhood around the points of interest. An angular scaling of this angular aperture provides a certain num- ber of different neighborhood resolution around the same considered point. A combinatory cost method is intro- duced in order to determine the best match between the different angular neighborhood patches of two interest points. Results are presented on sparse matched corner points, that can be used to estimate the epipolar geometry of the scene in order to provide a dense 3D map of the observed environment.
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The eMorph project aims at introducing a new concept for vision in the field of humanoid robotics. The system that is currently being developed is inspired by the biology of mammalian visual systems, introducing concepts such as... more
The eMorph project aims at introducing a new concept for vision in the field of humanoid robotics. The system that is currently being developed is inspired by the biology of mammalian visual systems, introducing concepts such as stimulus-driven signal acquisition and processing, together with space-variant sensor design coupled with active vision. This approach is leading to the realization of a system that goes beyond current thinking in robotic vision.
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We present a method to label and trace the lineage of multiple neural progenitors simultaneously in vertebrate animals via multiaddressable genome-integrative color (MAGIC) markers. We achieve permanent expression of combinatorial labels... more
We present a method to label and trace the lineage of multiple neural progenitors simultaneously in vertebrate animals via multiaddressable genome-integrative color (MAGIC) markers. We achieve permanent expression of combinatorial labels from new Brainbow transgenes introduced in embryonic neural progenitors with electroporation of transposon vectors. In the mouse forebrain and chicken spinal cord, this approach allows us to track neural progenitor's descent during pre- and postnatal neurogenesis or perinatal gliogenesis in long-term experiments. Color labels delineate cytoarchitecture, resolve spatially intermixed clones, and specify the lineage of astroglial subtypes and adult neural stem cells. Combining colors and subcellular locations provides an expanded marker palette to individualize clones. We show that this approach is also applicable to modulate specific signaling pathways in a mosaic manner while color-coding the status of individual cells regarding induced molecular perturbations. This method opens new avenues for clonal and functional analysis in varied experimental models and contexts.