CVT Project

Sparse Bundle Adjustment

Bundle Adjustmentz (BA) is almost invariably used as the last step of every feature-based multiple view reconstruction vision algorithm to obtain optimal 3D structure and motion (i.e. camera matrix) parameter estimates. Its name refers to the bundles of light rays originating from each 3D feature and converging on each camera's optical center, which are adjusted optimally with respect to both the structure and viewing parameters (similarity in meaning to categorical bundle seems a pure coincidence). 
Provided with initial estimates, BA simultaneously refines motion and structure by minimizing the reprojection error between the observed and predicted image points. The minimization is typically carried out with the aid of the Levenberg-Marquardt (LM) algorithm. 

Software

• sba: A Generic Sparse Bundle Adjustment C/C++ Package Based on the Levenberg–Marquardt Algorithm (C, Matlab)
• ssba: Simple Sparse Bundle Adjustment package based on the Levenberg–Marquardt Algorithm (C) with LGPL license.
• OpenCv: Computer Vision library in the contrib module.
• mcba: Multi-Core Bundle Adjustment (CPU/GPU).
• ROS:  ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications.

PMDTec's 3D ToF technology for AUDI: Tomorrow’s driver assistance and safety systems

German car manufacturer Audi AG officially announced, that the company will use PMD’s unique 3D ToF image sensing technology for the realization of future driver assistance and safety systems.

The first application will be automatic full braking in city traffic called pre sense city, which is based on PMD’s innovative, compact, robust and most mature 3D sensor technology, in whose basic development Audi played a significant role over the last years.

Git repository ^_^

YAHOO! We have Git repository at code.google. This project consists of three branch: debugger, library, logger and release - master. Each developer from team push his commits to some branch. And when we want tar realese - merge all branches => Master.
Everybody can folow the development of the project.

Link to the our project: CV-T-PRO

Useful link

Here is a useful link to publications of the Visual Geometry Group (the part of Robotics Research Group in the Department of Engineering Science, University of Oxford): VGG publications

Searching of erroneous correspondences of key points

  We implemented two algorithms which searches  erroneous correspondences of key points. 

The 1^st algorithm.

Key points are grouped using the  recursive algorithm breadth-first search. Then for every group calculated average slope angle of the vector points and the average length of a vector. Vectors, whose parameters differ significantly from the average parameters identifies as erroneous.

This algorithm is invariant to rotation and scaling.

Cvt Debuger 1.1.3

Hi
We have news about cvt debuger:

1. Fixed known bugs.

2. Fluid Layout Widgets

3. Added the ability to capture video from connected cameras

4. Added a widget for changing speed video

In the next release:

1. Include vision library.
2. Create a widgets for configuration vision library.

~fix opencv_2 bug with playing video.