Research

Hadi's research interests include:

  • Computer Vision
  • Aerial Wide Area Motion Imagery (WAMI): 3D reconstruction, Geo-registration and Video Analytics
  • Multi-view Stereo, 3D Reconstruction
  • Robotics
  • Computational Human Behaviour Analysis

Visual servoing of mobile robots using non-central catadioptric cameras

A catadioptric camera is usually made up by a combination of a conventional camera and a curved mirror resulting in an omnidirectional sensor capable of providing 360° panoramic views of a scene. Modeling such cameras has been the subject of significant research interest in the computer vision community leading to a deeper understanding of the image properties and also to different models for different types of configurations. Visual servoing applications using catadioptric cameras have essentially been using central cameras and the corresponding unified projection model. So far only in a few cases more general models have been used. In this paper we address the problem of visual servoing using the so-called radial model. The radial model can be applied to many camera configurations and in particular to non-central catadioptric systems with mirrors that are symmetric around an axis coinciding with the optical axis. In this case, we show that the radial model can be used with a non-central catadioptric camera to allow effective image-based visual servoing (IBVS) of a mobile robot. Using this model, which is valid for a large set of catadioptric cameras (central or non-central), new visual features are proposed to control the degrees of freedom of a mobile robot moving on a plane. In addition to several simulation results, a set of experiments was carried out on Robot Operating System (ROS)-based platform which validates the applicability, effectiveness and robustness of the proposed method for image-based control of a non-holonomic robot.

Demo

Ref.:

  • Aliakbarpour, H., Tahri, O., & Araujo, H. (2014). Visual servoing of mobile robots using non-central catadioptric cameras. Robotics and Autonomous Systems, 62(11), 1613–1622.
  • H. Aliakbarpour, O. Tahri and H. Araujo, "Image-based Servoing of non-Holonomic Vehicles using non-Central Catadioptric Cameras," in Proc. IEEE 9th International Workshop on Robot Motion and Control (RoMoCo), Poland, 2013 , pp. 54-59.

PhD Thesis: Exploiting Inertial Planes for Multi-sensor 3D Data Registration

My PhD Presentation, Nov 2012

Demo

My salute :)

Ref.:

  • H. Aliakbarpour, "Exploiting Inertial Planes for Multi-sensor 3D Data Registration", Dep. of Electrical and Computer Engineering, University of Coimbra, Portugal, Ph.D. dissertation, (Nov. 2012).
  • H. Aliakbarpour and J. Dias, "IMU-aided 3D Reconstruction based on Multiple Virtual Planes," in Proc. of DICTA'10, International Conference on Digital Image Computing: Techniques and Applications (the Australian Pattern Recognition and Computer Vision Society Conference), IEEE Press, Sydney, Australia, 2010. (Best Runner-up Paper Award).
  • H. Aliakbarpour and J. Dias, "Three-dimensional reconstruction based on multiple virtual planes by
  • using fusion-based camera network", Journal of Computer Vision IET, 6(4), 355-369 (2012).
  • H. Aliakbarpour L. Almeida, P. Menezes and J. Dias, "Multi-sensor 3D Volumetric Reconstruction Using
  • CUDA", Journal of 3D Research, 2, 1-14 (2011).

Computational Human Behaviour Analysis

Demo

Ref.:

  • K. Khoshhal, L. Santos, H. Aliakbarpour and Jorge Dias, "Parameterizing interpersonal behaviour with Laban movement analysis - A Bayesian approach," in Computer Vision and Pattern Recognition Workshops (CVPRW), 2012 IEEE Computer Society Conference on, Providence, RI, USA, 2012.