Download or read book Accurate Efficient and Robust 3D Reconstruction of Static and Dynamic Objects written by Kyoung-Rok Lee and published by . This book was released on 2014 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt: 3D reconstruction is the method of creating the shape and appearance of a real scene or objects, given a set of images on the scene. Realistic scene or object reconstruction is essential in many applications such as robotics, computer graphics, Tele- Immersion (TI), and Augmented Reality (AR). This thesis explores accurate, efficient, and robust methods for the 3D reconstruction of static and dynamic objects from RGB-D images. For accurate 3D reconstruction, the depth maps should have high geometric quality and resolution. However, depth maps are often captured at low-quality or low resolution, due to either sensor hardware limitations or errors in estimation. A new sampling-based robust multi-lateral filtering method is proposed herein to improve the resolution and quality of depth data. The enhancement is achieved by selecting reliable depth samples from a neighborhood of pixels and applying multi-lateral filtering using colored images that are both high-quality and high-resolution. Camera pose estimation is one of the most important operations in 3D reconstruction, since any minor error in this process may distort the resulting reconstruction. We present a robust method for camera tracking and surface mapping using a handheld RGB-D camera, which is effective for challenging situations such as during fast camera motion or in geometrically featureless scenes. This is based on the quaternion-based orientation estimation method for initial sparse estimation and a weighted Iterative Closest Point (ICP) method for dense estimation to achieve a better rate of convergence for both the optimization and accuracy of the resulting trajectory. We present a novel approach for the reconstruction of static object/scene with realistic surface geometry using a handheld RGB-D camera. To obtain high-resolution RGB images, an additional HD camera is attached to the top of a Kinect and is calibrated to reconstruct a 3D model with realistic surface geometry and high-quality color textures. We extend our depth map refinement method by utilizing high frequency information in color images to recover finer-scale surface geometry. In addition, we use our robust camera pose estimation to estimate the orientation of the camera in the global coordinate system accurately. For the reconstruction of moving objects, a novel dynamic scene reconstruction system using multiple commodity depth cameras is proposed. Instead of using expensive multi-view scene capturing setups, our system only requires four Kinects, which are carefully located to generate full 3D surface models of objects. We introduce a novel depth synthesis method for point cloud densification and noise removal in the depth data. In addition, a new weighting function is presented to overcome the drawbacks of the existing volumetric representation method.

Download or read book Image Based 3D Reconstruction of Dynamic Objects Using Instance Aware Multibody Structure from Motion written by Bullinger, Sebastian and published by KIT Scientific Publishing. This book was released on 2020-08-26 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: "This work proposes a Multibody Structure from Motion (MSfM) algorithm for moving object reconstruction that incorporates instance-aware semantic segmentation and multiple view geometry methods. The MSfM pipeline tracks two-dimensional object shapes on pixel level to determine object specific feature correspondences, in order to reconstruct 3D object shapes as well as 3D object motion trajectories" -- Publicaciones de Arquitectura y Arte.

Download or read book Representations and Techniques for 3D Object Recognition and Scene Interpretation written by Derek Hoiem and published by Morgan & Claypool Publishers. This book was released on 2011 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the grand challenges of artificial intelligence is to enable computers to interpret 3D scenes and objects from imagery. This book organizes and introduces major concepts in 3D scene and object representation and inference from still images, with a focus on recent efforts to fuse models of geometry and perspective with statistical machine learning. The book is organized into three sections: (1) Interpretation of Physical Space; (2) Recognition of 3D Objects; and (3) Integrated 3D Scene Interpretation. The first discusses representations of spatial layout and techniques to interpret physical scenes from images. The second section introduces representations for 3D object categories that account for the intrinsically 3D nature of objects and provide robustness to change in viewpoints. The third section discusses strategies to unite inference of scene geometry and object pose and identity into a coherent scene interpretation. Each section broadly surveys important ideas from cognitive science and artificial intelligence research, organizes and discusses key concepts and techniques from recent work in computer vision, and describes a few sample approaches in detail. Newcomers to computer vision will benefit from introductions to basic concepts, such as single-view geometry and image classification, while experts and novices alike may find inspiration from the book's organization and discussion of the most recent ideas in 3D scene understanding and 3D object recognition. Specific topics include: mathematics of perspective geometry; visual elements of the physical scene, structural 3D scene representations; techniques and features for image and region categorization; historical perspective, computational models, and datasets and machine learning techniques for 3D object recognition; inferences of geometrical attributes of objects, such as size and pose; and probabilistic and feature-passing approaches for contextual reasoning about 3D objects and scenes. Table of Contents: Background on 3D Scene Models / Single-view Geometry / Modeling the Physical Scene / Categorizing Images and Regions / Examples of 3D Scene Interpretation / Background on 3D Recognition / Modeling 3D Objects / Recognizing and Understanding 3D Objects / Examples of 2D 1/2 Layout Models / Reasoning about Objects and Scenes / Cascades of Classifiers / Conclusion and Future Directions

Download or read book Robust Methods for Dense Monocular Non Rigid 3D Reconstruction and Alignment of Point Clouds written by Vladislav Golyanik and published by Springer Nature. This book was released on 2020-06-04 with total page 352 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vladislav Golyanik proposes several new methods for dense non-rigid structure from motion (NRSfM) as well as alignment of point clouds. The introduced methods improve the state of the art in various aspects, i.e. in the ability to handle inaccurate point tracks and 3D data with contaminations. NRSfM with shape priors obtained on-the-fly from several unoccluded frames of the sequence and the new gravitational class of methods for point set alignment represent the primary contributions of this book. About the Author: Vladislav Golyanik is currently a postdoctoral researcher at the Max Planck Institute for Informatics in Saarbrücken, Germany. The current focus of his research lies on 3D reconstruction and analysis of general deformable scenes, 3D reconstruction of human body and matching problems on point sets and graphs. He is interested in machine learning (both supervised and unsupervised), physics-based methods as well as new hardware and sensors for computer vision and graphics (e.g., quantum computers and event cameras).

Download or read book Efficient Image based Appearance Acquisition of Real world Objects written by Hendrik P. A. Lensch and published by Cuvillier Verlag. This book was released on 2004 with total page 177 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book 3D Scene Understanding with Efficient Spatio temporal Reasoning written by JunYoung Gwak and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robust and efficient 3D scene understanding could enable embodied agents to safely interact with the physical world in real-time. The key to the remarkable success of computer vision in the last decade owes to the rediscovery of convolutional neural networks. However, this technology does not always directly translate to 3D due to the curse of dimensionality. The size of the data grows cubically with the voxels, and the same level of input resolution and network depth was infeasible compared to that of 2D. Based on the observation that the 3D space is mostly empty, sparse tensors and sparse convolutions stand out as an efficient and effective 3D counterparts to the 2D convolution by exclusively operating on non-empty spaces. Such efficiency gain supports deeper neural networks for higher accuracy in real-time reference speed. To this end, this thesis explores the application of sparse convolution to various 3D scene understanding tasks. This thesis breaks down a holistic 3D scene understanding pipeline into the following subgoals; 1. data collection from 3D reconstruction, 2. semantic segmentation, 3. object detection, and 4. multi-object tracking. With robotics applications in mind, this thesis aims to achieve better performance, scalability, and efficiency in understanding the high-level semantics of the spatio-temporal domain while addressing the unique challenges the sparse data poses. In this thesis, we propose generalized sparse convolution and demonstrate how our method 1. gains efficiency by leveraging the sparseness of the 3D point cloud, 2. achieves robust performance by utilizing the gained efficiency, 3. makes predictions on empty spaces by dynamically generating points, and 4. jointly solves detection and tracking with spatio-temporal reasoning. Altogether, this thesis proposes an efficient and reliable pipeline for a holistic 3D scene understanding.

Download or read book Advanced Anomaly Detection Technologies and Applications in Energy Systems written by Tinghui Ouyang and published by Frontiers Media SA. This book was released on 2022-10-14 with total page 628 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Single shot Accurate 3D Reconstruction Using Structured Light Systems Based on Local Optimization written by Neda Aslsabbaghpourhokmabadi and published by . This book was released on 2015 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt: Creating 3D models of objects has been studied extensively for several decades. These models have different applications in different fields. As a result, creating 3D models is an interesting area in computer vision. There are many proposed methods for extracting 3D information of 2D images. One of the most common methods for 3D reconstruction is structured light methods. Although structured light methods can get valuable results of 3D reconstruction, they have limitations. For example, the structured light methods can get dense results on static scenes or get sparse results on dynamic scenes. In static scenes, the structured light method projects several patterns, and it results in dense models. However, in dynamic scenes, the structured light method projects just one pattern since the object is moving, and it results in sparse models. The limitation of the structured light methods in dynamic scenes is the most important motivation for this thesis. In this thesis, a single-shot structured light method is developed to overcome the sparse results in dynamic scenes. In particular, the proposed method can obtain more accurate reconstruction with just one image of dynamic scenes than that of existing methods. The new method applies global and local optimizations to establish dense correspondences. The result of simulated experiments comparison with the ground truth demonstrates that the proposed method in this thesis achieves more accurate results than that of previous methods. Lastly, the technique developed in this thesis is applied to real data in order to obtain high quality 3D reconstruction results. The results of the new method are more accurate compared to previous methods.

Download or read book Handbook of Mathematical Models in Computer Vision written by Nikos Paragios and published by Springer Science & Business Media. This book was released on 2006-01-16 with total page 612 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract Biological vision is a rather fascinating domain of research. Scientists of various origins like biology, medicine, neurophysiology, engineering, math ematics, etc. aim to understand the processes leading to visual perception process and at reproducing such systems. Understanding the environment is most of the time done through visual perception which appears to be one of the most fundamental sensory abilities in humans and therefore a significant amount of research effort has been dedicated towards modelling and repro ducing human visual abilities. Mathematical methods play a central role in this endeavour. Introduction David Marr's theory v^as a pioneering step tov^ards understanding visual percep tion. In his view human vision was based on a complete surface reconstruction of the environment that was then used to address visual subtasks. This approach was proven to be insufficient by neuro-biologists and complementary ideas from statistical pattern recognition and artificial intelligence were introduced to bet ter address the visual perception problem. In this framework visual perception is represented by a set of actions and rules connecting these actions. The emerg ing concept of active vision consists of a selective visual perception paradigm that is basically equivalent to recovering from the environment the minimal piece information required to address a particular task of interest.

Download or read book Advances in Image and Graphics Technologies written by Tieniu Tan and published by Springer. This book was released on 2014-10-20 with total page 367 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the referred proceedings of the 8th China Conference on Image and Graphics Technologies and Applications, IGTA 2014, held in Beijing, China, in June 2014. The 39 papers presented were carefully reviewed and selected from 110 submissions. They cover various aspects of research in image processing and graphics and related topics, including object detection, pattern recognition, object tracking, classification, image segmentation, reconstruction, etc.

Download or read book Improving the Accuracy of 3 D Reconstruction in Robotic Vision Applications written by Yuanzheng Gong and published by . This book was released on 2016 with total page 143 pages. Available in PDF, EPUB and Kindle. Book excerpt: Three-dimensional (3D) surface reconstruction is a process for retrieving the 3D shape and appearance of real objects or scenes. The generated 3D point clouds can be used in many fields, including entertainment, measurement, design, reverse engineering, homeland security and {\it etc}. Over the past decades, 3D reconstruction has been widely used in clinical diagnosis and surgical treatment of diseases, such as X-ray, ultrasound, computed tomography (CT) and magnetic resonance imaging (MRI). However, all of these technologies are radiography-based volumetric 3D reconstruction instead of 3D surface reconstruction. With the growing need of tissue texture information for clinical purposes, the 3D reconstruction based on endoscopic images plays a more vital role than ever, especially in tumor diagnosis and surveillance of esophagus, lung, stomach, bladder and etc. In this work, new algorithms were developed to solve specific 3D reconstruction problems in biomedical applications. To reconstruct the 3D internal surface of a human organ, such as bladder or stomach, a sequence of 2D endoscopic images were captured by rotating and moving the scope around inside of the organs. This 3D reconstruction solely based on images is called Structure-from-Motion (SfM). To overcome the problems of insufficient features in medical images and short camera baselines, the camera poses were initially estimated by constraining the surface on a spherical shape at the first step. The more realistic organ surface was then reconstructed by releasing the spherical constraints. Extra features were built to handle multiple scanning videos and recover the physical scale of the 3D surface with reference lesion target. To reduce the human error and surgical operating time in removing the tumor/cancer in brain, a semi-automated surgical robotic system with 3D vision is being developed. By providing an accurate 3D surface model of the surgical field based on a RGB (red, green and blue) camera attached to the surgical tool, the robot could perform tedious operation of residual tumor tissue removal automatically. Camera position and orientation were also known throughout the surgery from the robotic system. This 3D reconstruction with known camera parameters is called Multi-view Stereo. Due to the mechanical limitation of robotic system, the camera pose parameters were with certain errors (tolerance). To utilize these inaccurate but bound constrained variables, Bound Constrained Bundle Adjustment (BCBA) algorithm was developed based on gradient projection to generate accurate 3D model efficiently. Besides biomedical applications, 3D computer vision is emerging in traditional industries, such as manufacture and quality control applications. To build a potential in-line 3D metrology tool for internal threads in automobile engine blocks, two 3D reconstruction algorithms were developed with forward-view and side-view cameras, respectively. Axial-stereo vision algorithm was proposed to create dense 3D point cloud of internal surface based on two forward-view images that are aligned on the optical axis. Feature-based panoramic 3D registration algorithm was developed to register different side-view image-generated 3D surface patches together, by taking advantage of the robustness and accuracy of SIFT features. Each side-view patch of the repeated geometry of a threaded hole was reconstructed by multi-view stereo. Comparing with traditional 3D point clouds registration algorithm Iterative Closest Point (ICP), our algorithm has the advantages of high-efficiency and high-accuracy, especially for the registration of repetitive geometries.

Download or read book RoboCup 2019 Robot World Cup XXIII written by Stephan Chalup and published by Springer Nature. This book was released on 2019-11-30 with total page 671 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes the post-conference proceedings of the 23rd RoboCup International Symposium, held in Sydney, NSW, Australia, in July 2019. The 38 full revised papers and 14 invited papers presented in this book were carefully reviewed and selected from 74 submissions. This book highlights the approaches of champion teams from the competitions and documents the proceedings of the 23rd annual RoboCup International Symposium. Due to the complex research challenges set by the RoboCup initiative, the RoboCup International Symposium offers a unique perspective for exploring scientific and engineering principles underlying advanced robotic and AI systems.

Download or read book Computational Science ICCS 2021 written by Maciej Paszynski and published by Springer Nature. This book was released on 2021-06-09 with total page 592 pages. Available in PDF, EPUB and Kindle. Book excerpt: The six-volume set LNCS 12742, 12743, 12744, 12745, 12746, and 12747 constitutes the proceedings of the 21st International Conference on Computational Science, ICCS 2021, held in Krakow, Poland, in June 2021.* The total of 260 full papers and 57 short papers presented in this book set were carefully reviewed and selected from 635 submissions. 48 full and 14 short papers were accepted to the main track from 156 submissions; 212 full and 43 short papers were accepted to the workshops/ thematic tracks from 479 submissions. The papers were organized in topical sections named: Part I: ICCS Main Track Part II: Advances in High-Performance Computational Earth Sciences: Applications and Frameworks; Applications of Computational Methods in Artificial Intelligence and Machine Learning; Artificial Intelligence and High-Performance Computing for Advanced Simulations; Biomedical and Bioinformatics Challenges for Computer Science Part III: Classifier Learning from Difficult Data; Computational Analysis of Complex Social Systems; Computational Collective Intelligence; Computational Health Part IV: Computational Methods for Emerging Problems in (dis-)Information Analysis; Computational Methods in Smart Agriculture; Computational Optimization, Modelling and Simulation; Computational Science in IoT and Smart Systems Part V: Computer Graphics, Image Processing and Artificial Intelligence; Data-Driven Computational Sciences; Machine Learning and Data Assimilation for Dynamical Systems; MeshFree Methods and Radial Basis Functions in Computational Sciences; Multiscale Modelling and Simulation Part VI: Quantum Computing Workshop; Simulations of Flow and Transport: Modeling, Algorithms and Computation; Smart Systems: Bringing Together Computer Vision, Sensor Networks and Machine Learning; Software Engineering for Computational Science; Solving Problems with Uncertainty; Teaching Computational Science; Uncertainty Quantification for Computational Models *The conference was held virtually.

Download or read book Emerging Topics in Computer Vision and Its Applications written by C. H. Chen and published by World Scientific. This book was released on 2012 with total page 508 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gives a comprehensive overview of the most advanced theories, methodologies and applications in computer vision. Particularly, it gives an extensive coverage of 3D and robotic vision problems. Example chapters featured are Fourier methods for 3D surface modeling and analysis, use of constraints for calibration-free 3D Euclidean reconstruction, novel photogeometric methods for capturing static and dynamic objects, performance evaluation of robot localization methods in outdoor terrains, integrating 3D vision with force/tactile sensors, tracking via in-floor sensing, self-calibration of camera networks, etc. Some unique applications of computer vision in marine fishery, biomedical issues, driver assistance, are also highlighted.

Download or read book RGB D Image Analysis and Processing written by Paul L. Rosin and published by Springer. This book was released on 2019-11-06 with total page 524 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the fundamentals and recent advances in RGB-D imaging as well as covering a range of RGB-D applications. The topics covered include: data acquisition, data quality assessment, filling holes, 3D reconstruction, SLAM, multiple depth camera systems, segmentation, object detection, salience detection, pose estimation, geometric modelling, fall detection, autonomous driving, motor rehabilitation therapy, people counting and cognitive service robots. The availability of cheap RGB-D sensors has led to an explosion over the last five years in the capture and application of colour plus depth data. The addition of depth data to regular RGB images vastly increases the range of applications, and has resulted in a demand for robust and real-time processing of RGB-D data. There remain many technical challenges, and RGB-D image processing is an ongoing research area. This book covers the full state of the art, and consists of a series of chapters by internationally renowned experts in the field. Each chapter is written so as to provide a detailed overview of that topic. RGB-D Image Analysis and Processing will enable both students and professional developers alike to quickly get up to speed with contemporary techniques, and apply RGB-D imaging in their own projects.

Download or read book Advances in Computer Science and Ubiquitous Computing written by James J. Park and published by Springer Nature. This book was released on 2021-01-04 with total page 583 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the combined proceedings of the 11th International Conference on Computer Science and its Applications (CSA 2019) and the 14th KIPS International Conference on Ubiquitous Information Technologies and Applications (CUTE 2019), both held in Macau, China, December 18–20, 2019. The aim of these two meetings was to promote discussion and interaction among academics, researchers and professionals in the field of ubiquitous computing technologies. These proceedings reflect the state of the art in the development of computational methods, involving theory, algorithms, numerical simulation, error and uncertainty analysis and novel applications of new processing techniques in engineering, science and other disciplines related to ubiquitous computing.

Download or read book Computer Vision ECCV 2014 written by David Fleet and published by Springer. This book was released on 2014-08-14 with total page 855 pages. Available in PDF, EPUB and Kindle. Book excerpt: The seven-volume set comprising LNCS volumes 8689-8695 constitutes the refereed proceedings of the 13th European Conference on Computer Vision, ECCV 2014, held in Zurich, Switzerland, in September 2014. The 363 revised papers presented were carefully reviewed and selected from 1444 submissions. The papers are organized in topical sections on tracking and activity recognition; recognition; learning and inference; structure from motion and feature matching; computational photography and low-level vision; vision; segmentation and saliency; context and 3D scenes; motion and 3D scene analysis; and poster sessions.