Bruno Crespi

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Stereoscopic depth analysis by means of disparity estimation has been a classical topic of computer vision, from the biological models of stereopsis [1] to the widely used techniques based on correlation or sum of squared differences [2]. Most of the recent work on this topic has been devoted to the phase-based techniques, developed because of their(More)
A memory-based system for autonomous indoor navigation is presented. The system was implemented as a follow-midline reflex on a robot that moves along the corridors of our institute. The robot estimates its position in the environment by comparing the visual input with images contained in its memory. Spatial positions are represented by classes. Memories(More)
A phase-difference-based algorithm for disparity and optical flow estimation is implemented on a TI-C40-based parallel DSP system. The module performs real-time computation of disparity maps on images of size 128 × 128 pixels and computation of optical flows on images of size 64 × 64 pixels. This paper describes the algorithm and its parallel(More)
The phase-difference-based technique has become a widespread method for depth and optical flow estimation because of superior performance and better theoretical groundings. The technique is based on the convolution of the stereo image pair with Gabor filters. Gabor filters contains two parameters, the width and the tuning frequency. In order to optimize(More)
The analog implementation of a phase-based technique for disparity estimation is discussed. This technique is based on the convolution of images with Gabor filters. The article shows that by replacing the Gaussian envelope with other envelopes, the convolution operation is equivalent to the solution of a system of differential equations, whose order is(More)
The aggregation pheromones were studied from two geographical isolates (Hakalau, Hawaii, and Silkwood, Queensland, Australia) of the New Guinea sugarcane weevil, Rhabdoscelus obscurus. Coupled gas chromatographic–electroantennographic detection (GC-EAD) and GC–mass spectrometric (MS) analyses of Porapak Q volatile extract from male and from female Hawaiian(More)
A sonar array and a camera are the sensors of a robot that learns to move inside a building. Learning is based on the association of ultrasonic and visual images with motor commands. The two sensors extract diierent information from the environment. Sonars produce a short-range depth image on the sonar array plane, vision gives a wide-range at image of the(More)