Wai Han Ho

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Many objects found in domestic environments are symmetrical. In this paper, a novel method to detect axis of reflectional symmetry in digital images is presented. The proposed approach utilizes image gradients and edge pixel matching to find lines of symmetry. Preliminary results , comparing the symmetry detector with the Generalized Symmetry Transform(More)
Authorization I hereby declare that I am the sole author of the thesis. I authorize the Hong Kong University of Science and Technology to lend this thesis to other institutions or individuals for the purpose of scholarly research. I further authorize the Hong Kong University of Science and Technology to reproduce the thesis by photocopying or by other(More)
This paper proposes a method to use reflec-tional symmetry as a feature to rapidly trian-gulate the 3D location of objects using stereo vision. Our approach can triangulate objects under non-uniform lighting conditions. Objects that pose a problem to other stereo methods, such as reflective and transparent objects, as well as objects with rounded surfaces(More)
Egomotion estimation is a fundamental building block for self-localisation and SLAM, especially when an accurate map is not available to the robot. This paper presents a real time plane-based approach to estimate the 6 degrees of freedom (DOF) pose of a moving Mi-crosoft Kinect. An inverse depth formulation is used to robustly fit multiple planes in the(More)