Jeremiah Neubert

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Many of the robust visual tracking techniques utilized by augmented reality applications rely on 3D models and information extracted from images. Models enhanced with image information make it possible to initialize tracking and detect poor registration. Unfortunately, generating 3D CAD models and registering them to image information can be a time(More)
This paper presents the development of a real time tracking algorithm that runs on a 1.2 GHz PC/104 computer onboard a small UAV. The algorithm uses zero mean normalized cross correlation to detect and locate an object in the image. A Kalman filter is used to make the tracking algorithm computationally efficient. Object position in an image frame is(More)
A large number of augmented reality (AR) applications have been developed for handheld platforms built around ultra mobile computers. Unfortunately, these platforms, created for research, are not appropriate for demonstrations and user testing because their ad hoc nature affects the user experience. An AR platform designed for the average user will provide(More)
This paper presents a method for rapidly generating crude, appearance-based edge models consisting of a set of planes. The appearance of each plane is modeled using a set of keyframes containing a list of edgels. These models are generated from a short video sequence with a few annotated frames indicating the location of the object of interest. The data(More)
This paper presents the development of a vision-based neuro-fuzzy controller for a two axes gimbal system mounted on a small Unmanned Aerial Vehicle (UAV). The controller uses vision-based object detection as input and generates pan and tilt motion and velocity commands for the gimbal in order to keep the interest object at the center of the image frame. A(More)
This study proposes a method for performing velocity estimation by motion blur in a single image frame and intercepting a moving object with a robotic arm. It is shown that velocity estimation in a single image frame improves the system's performance up to five times. The majority of previous studies in this area require at least two image frames to measure(More)
This paper presents a visual tracking system that is capable of running real time on-board a small UAV (Unmanned Aerial Vehicle). The tracking system is computationally efficient and invariant to lighting changes and rotation of the object or the camera. Detection and tracking is autonomously carried out on the payload computer and there are two different(More)
This paper presents the development of an efficient set of tools for extracting information from the video of a structure captured by an Unmanned Aircraft System (UAS) to produce as-built documentation to aid inspection of large multi-storied building during construction. Our system uses the output from a sequential structure from motion system and a 3D CAD(More)