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Automated generation of synthetic in-car dataset for human body pose detection
Borges, João; Oliveira, Bruno; Torres, Helena Daniela Ribeiro; Rodrigues, Nelson; Queirós, Sandro Filipe Monteiro; Shiller, Maximilian; Coelho, VictorIn this paper, a toolchain for the generation of realistic synthetic images for human body pose detection in an in-car environment is proposed. The toolchain creates a customized synthetic environment, comprising human models, car, and camera. Poses are automatically generated for each human, taking into account a per-joint axis Gaussian distribution, constrained by anthropometric and range of motion measuremen...
Autocalibration for Structure from Motion
Brito, José HenriqueThis paper is about the estimation of calibration parameters of images to be used in Structure from Mo- tion (SfM) pipelines and 3D reconstruction from image feature correspondences. It addresses the estima- tion of calibration parameters when they are not available, so that additional images may be included in the 3D reconstruction and so that the initial model may be closer to the true geometry of the scene. ...
Real-Time Human Body Pose Estimation for In-Car Depth Images
Torres, Helena R.; Olivreira, Bruno; Fonseca, Jaime; Queirós, Sandro; Rodrigues, Nélson; Coelho, Victor; Pallauf, Johannes; Brito, José HenriqueOver the next years, the number of autonomous vehicles is expected to increase. This new paradigm will change the role of the driver inside the car, and so, for safety purposes, the continuous monitoring of the driver/passengers becomes essential. This monitoring can be achieved by detecting the human body pose inside the car to understand the driver/passenger’s activity. In this paper, a method to accurately d...
Top-down human pose estimation with depth images and domain adaptation
Rodrigues, Nelson; Torres, Helena Daniela Ribeiro; Oliveira, Bruno; Borges, João; Queirós, Sandro Filipe Monteiro; Mendes, José A.; Fonseca, Jaime C.In this paper, a method for estimation of human pose is proposed, making use of ToF (Time of Flight) cameras. For this, a YOLO based object detection method was used, to develop a top-down method. In the first stage, a network was developed to detect people in the image. In the second stage, a network was developed to estimate the joints of each person, using the image result from the first stage. We show that ...
Blood type classification using computer vision and machine learning
Ferraz, Ana; Brito, José Henrique; Carvalho, Vítor; José, MachadoIn emergency situations, where time for blood transfusion is reduced, the O negative blood type (the universal donor) is administrated. However, sometimes even the universal donor can cause transfusion reactions that can be fatal to the patient. As commercial systems do not allow fast results and are not suitable for emergency situations, this paper presents the steps considered for the development and validati...
Mechatronic system for performing blood pre-transfusion tests
Ferraz, Ana; Carvalho, Vitor; Machado, José; Brito, José HenriqueThe blood types determination is essential to perform safe blood transfusions. In emergency situations isadministrated the “universal donor” blood type. However, sometimes, this blood type can cause incom-patibilities in the transfusion receptor. A mechatronic prototype was developed to solve this problem.The prototype was built to meet specific goals, incorporating all the necessary components. The obtainedsol...
Radial Distortion Self-Calibration
Brito, José Henrique; Angst, Roland; Köser, Kevin; Pollefeys, MarcIn cameras with radial distortion, straight lines in space are in general mapped to curves in the image. Although epipolar geometry also gets distorted, there is a set of special epipolar lines that remain straight, namely those that go through the distortion center. By finding these straight epipolar lines in camera pairs we can obtain constraints on the distortion center(s) without any calibration object or p...
Unknown Radial Distortion Centers in Multiple View Geometry Problems
Brito, José Henrique; Angst, Roland; Köser, Kevin; Zach, Christopher; Branco, Pedro; Ferreira, Manuel João; Pollefeys, MarcThe radial undistortion model proposed by Fitzgibbon and the radial fundamental matrix were early steps to extend classical epipolar geometry to distorted cameras. Later minimal solvers have been proposed to find relative pose and radial distortion, given point correspondences between images. However, a big drawback of all these approaches is that they require the distortion center to be exactly known. In this ...
One-sided Radial-Fundamental Matrix Estimation
Brito, José Henrique; Zach, Christopher; Köser, Kevin; Ferreira, Manuel; Pollefeys, MarcFor modern consumer cameras often approximate calibration data is available, making applications such as 3D reconstruction or photo registration easier as compared to the pure uncalibrated setting. In this paper we address the setting with calibrateduncalibrated image pairs: for one image intrinsic parameters are assumed to be known, whereas the second view has unknown distortion and calibration parameters. Thi...