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Target measurement Method Based on Sparse disparity for Live Power Lines Maintaining Robot

Target Measurement Method Based on Sparse Disparity for Live...

引用

IEEE International conference on Real-time Computing and Robotics (RCAR)

作者： Jing Zhu Yutao Chen Yahao Wang Hao Zhang Xuming Tang Ming Xu Erbao dong CAS Key Laboratory of Mechanical Behavior and Design of Materials University of Science and Technology of China Hefei China Military Transportation University

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

3d perception has been an indispensable part of the research on many manipulator robots. In this paper, we propose a the new kind of target measurement method to perceive the surrounding environment of robots based on binocular stereo vision theory, which can effectively improves the 3d reconstruction accuracy and effectiveness of the target recognition. The sparse disparity method we apply is different from the dense binocular stereo vision method in common. At the beginning of the article, a series of effective methods of image processing we use to identify and extract target images will be introduce. A novel operator-matching algorithm is proposed to improve the extraction and recognition. The contour-center stereo matching theory is expounded to lay a foundation to the calculation of sparse disparity estimation. To give accurate 3d reconstruction model information, a calibration system with low measurement error is proposed based on dual manipulators of our robot. After coordinate transformation implementation, robots obtain point cloud data of the target and able to perform interactive actions. A wiring experiment is set to test this method by judging work efficiency and success rate.

关键词： Robots Real-time systems conferences

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Removal of Scattered Noise Based on data of the Cranial Point Cloud of the Zokor Head

Removal of Scattered Noise Based on Data of the Cranial Poin...

引用

Computer Information and Big data Applications (CIBdA), International conference on

作者： Tong Yang Heru Xue Inner Mongolia Agricultural University Hohhot China

ISBN: (数字)9781728198378

ISBN: (纸本)9781728198385

When using a hand-held 3d laser scanner to collect data on the measured object, it often generates more extra noise flying spots. These noises will seriously affect the processing of later point cloud and the accuracy of surface reconstruction, so they must be removed in time. By observing the three-dimensional point cloud data of the zokor head, it is found that these noises are suspended outside the main point cloud and have the characteristics of irregularity, isolation and sparseness, and the method based on density filtering is suitable for removing such noises. This method performs density cluster analysis on the point cloud data, and then realizes the separation of the measured target and the noise point according to the density cluster results. The experimental results show that the algorithm can accurately identify and eliminate in vitro noise data.

关键词： Three-dimensional displays In vitro Filtering Shape density measurement Q measurement Noise measurement

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measurement and documentation of St. Spirit Church in Liběchov 11

Measurement and documentation of St. Spirit Church in Liběc...

引用

11th International Scientific and Technical conference on Geodesy, Cartography and Geoinformatics, GCG 2019

作者： Křemen, T. Department of Special Geodesy Faculty of Civil Engineering Czech Technical University Prague Czech Republic

ISBN: (纸本)9780367346515

We often encounter incompleteness or even a lack of documentation of a given monument in the care of material cultural heritage. In this case, there is no other way than to complete the documentation of the monument or to create a completely new documentation. This was the case of the Church of St. Spirit in Liběchov, which is currently in a poor condition. during the planning of the repairing it was found that there is no drawing documentation for the church. Students of CTU in Prague offered to measure the church on its diploma theses. The church was measured by laser scanning and aerial photogrammetry. during the processing of the measured data, the drawing documentation and 3d CAd model of the whole church were created. The results were handed over to the Mayor of Liběchov as a basis for preparing the project for the planned repair of this cultural monument. © 2020 Taylor & Francis Group, London.

关键词： 3d modeling

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depth Completion Using a View-constrained deep Prior

Depth Completion Using a View-constrained Deep Prior

引用

International conference on 3d Imaging, Modeling, processing, Visualization and Transmission (3dIMPVT)

作者： Pallabi Ghosh Vibhav Vineet Larry S. davis Abhinav Shrivastava Sudipta Sinha Neel Joshi University of Maryland Microsoft Research

ISBN: (数字)9781728181288

ISBN: (纸本)9781728181295

Recent work has shown that the structure of convolutional neural networks (CNNs) induces a strong prior that favors natural images. This prior, known as a deep image prior (dIP), is an effective regularizer in inverse problems such as image denoising and inpainting. We extend the concept of the dIP to depth images. Given color images and noisy and incomplete target depth maps, we optimize a randomly-initialized CNN model to reconstruct a depth map restored by virtue of using the CNN network structure as a prior combined with a view-constrained photo-consistency loss. This loss is computed using images from a geometrically calibrated camera from nearby viewpoints. We apply this deep depth prior for inpainting and refining incomplete and noisy depth maps within both binocular and multi-view stereo pipelines. Our quantitative and qualitative evaluation shows that our refined depth maps are more accurate and complete, and after fusion, produces dense 3d models of higher quality.

关键词： Electronics packaging Optimization Noise measurement Three-dimensional displays Image reconstruction Training data Task analysis

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Foldmatch: Accurate and High Fidelity Garment Fitting Onto 3d Scans

Foldmatch: Accurate and High Fidelity Garment Fitting Onto 3...

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IEEE International conference on Image processing

作者： Sk Aziz Ali Sikang Yan Wolfgang dornisch didier Stricker TU Kaiserslautern Brandenburgische Technische Universität Cottbus-Senftenberg Germany

ISBN: (数字)9781728163956

ISBN: (纸本)9781728163963

In this paper, we propose a new template fitting method that can capture fine details of garments in target 3d scans of dressed human bodies. Matching the high fidelity details of such loose/tight-fit garments is a challenging task as they express intricate folds, creases, wrinkle patterns, and other high fidelity surface details. Our proposed method of non-rigid shape fitting - FoldMatch - uses physics-based particle dynamics to explicitly model the deformation of loose-fit garments and wrinkle vector fields for capturing clothing details. The 3d scan point cloud behaves as a collection of astrophysical particles, which attracts the points in template mesh and defines the template motion model. We use this point-based motion model to derive regularized deformation gradients for the template mesh. We show the parameterization of the wrinkle vector fields helps in the accurate shape fitting. Our method shows better performance than the state-of-the-art methods. We define several deformation and shape matching quality measurement metrics to evaluate FoldMatch on synthetic and real data sets.

关键词： Strain Clothing Three-dimensional displays Shape deformable models Tensile stress Computational modeling

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dualConvMesh-Net: Joint Geodesic and Euclidean Convolutions on 3d Meshes

DualConvMesh-Net: Joint Geodesic and Euclidean Convolutions ...

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conference on Computer Vision and Pattern Recognition (CVPR)

作者： Jonas Schult Francis Engelmann Theodora Kontogianni Bastian Leibe RWTH Aachen University

ISBN: (数字)9781728171685

ISBN: (纸本)9781728171692

We propose dualConvMesh-Nets (dCM-Net) a family of deep hierarchical convolutional networks over 3d geometric data that combines two types of convolutions. The first type, Geodesic convolutions, defines the kernel weights over mesh surfaces or graphs. That is, the convolutional kernel weights are mapped to the local surface of a given mesh. The second type, Euclidean convolutions, is independent of any underlying mesh structure. The convolutional kernel is applied on a neighborhood obtained from a local affinity representation based on the Euclidean distance between 3d points. Intuitively, geodesic convolutions can easily separate objects that are spatially close but have disconnected surfaces, while Euclidean convolutions can represent interactions between nearby objects better, as they are oblivious to object surfaces. To realize a multi-resolution architecture, we borrow well-established mesh simplification methods from the geometry processing domain and adapt them to define mesh-preserving pooling and unpooling operations. We experimentally show that combining both types of convolutions in our architecture leads to significant performance gains for 3d semantic segmentation, and we report competitive results on three scene segmentation benchmarks. Models and code will be made publicly available.

关键词： Three-dimensional displays Convolutional codes Kernel Shape measurement Convolution Semantics

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Restoration of Motion Blur in Time-of-Flight depth Image Using data Alignment

Restoration of Motion Blur in Time-of-Flight Depth Image Usi...

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International conference on 3d Imaging, Modeling, processing, Visualization and Transmission (3dIMPVT)

作者： Zhuo Chen Peilin Liu Fei Wen Jun Wang Rendong Ying Shanghai Jiao Tong University

ISBN: (数字)9781728181288

ISBN: (纸本)9781728181295

Time-of-flight (ToF) sensors are vulnerable to motion blur in the presence of moving objects. This is due to the principle of ToF camera that it estimates depth from the phase-shift between emitted and received modulated signals. And the phase-shift is measured by four sequential phase-shifted images, which is assumed to be consistent in an integration time. However, object motion would give rise to disparity among the four phase-shifted images, contributing to unreliable depth measurement. In this paper, we propose a novel method that is capable of aligning the four phase-shifted images through investigating the electronic value of each pixel in the phase images. It consists of two steps, motion detecting and deblurring. Furthermore, a refinement utilizing an additional group of phase-shifted images is adopted to further improve the accuracy of depth measurement. Experiment results on a new elaborated dataset with ground-truth demonstrate that the proposed method compares favorably over existing methods in both accuracy and runtime. Particularly, the new method can achieve the best accuracy while being computationally efficient that can support real-time running.

关键词： Cameras Phase measurement Image restoration Sensors Optical imaging Adaptive optics Three-dimensional displays

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Time Shifted IMU Preintegration for Temporal Calibration in Incremental Visual-Inertial Initialization

Time Shifted IMU Preintegration for Temporal Calibration in ...

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International conference on 3d Imaging, Modeling, processing, Visualization and Transmission (3dIMPVT)

作者： Bruno Petit Richard Guillemard Vincent Gay-Bellile CEA List Université Paris-Saclay Palaiseau France

ISBN: (数字)9781728181288

ISBN: (纸本)9781728181295

Tightly coupled Visual-Inertial SLAM (VISLAM) algorithms are now state of the art approaches for indoor localization. There are many implementations of VISLAM, like filter-based and non-linear optimization based algorithms. They all require an accurate temporal alignment between sensors clock and an initial IMU state gyroscope and accelerometer biases value, gravity direction and initial velocity) for precise localization. In this paper we propose an initialization procedure of VISLAM that estimates simultaneously IMU-camera temporal calibration and the initial IMU state. To this end, the concept of Time Shifted IMU Preintegration} (TSIP) measurements is introduced. an interpolation of IMU preintegration that takes into account the effect of sensors clock misalignment. These TSIP measurements are included along with visual odometry measurements in a graph that is incrementally optimized. It results in a real time, accurate and robust initialization for VISLAM as demonstrated in the experiments on real data.

关键词： Time measurement Visualization Optimization Location awareness Real-time systems Gyroscopes Calibration

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Point Cloud Preprocessing on 3d LidAR data for Unmanned Surface Vehicle in Marine Environment

Point Cloud Preprocessing on 3D LiDAR data for Unmanned Surf...

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Information Technology,Big data and Artificial Intelligence (ICIBA), International conference on IEEE International conference on

作者： Xianzhi Qi Wenxing Fu Pei An Bingli Wu Jie Ma National Key Laboratory of Science and Technology on Multispectral Information Processing School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9781728152240

ISBN: (纸本)9781728152257

Point cloud preprocessing is still a challenging task in the marine environment, for it is difficult to filter out non-obstacle points while avoiding damage to the obstacle completeness. In this paper, we propose a novel data preprocessing method on 3d LidAR data for the unmanned surface vehicle in the marine environment. It consists of two tasks: outlier removal and wake filtering. As the spatial resolution of LidAR changes with distance, we exploit distance normalization on statistical outlier filter for robust outlier removal. Considering the gradient difference between wave wake and obstacle surface near the water, we define and calculate the vertical state of point cloud on the range image to obtain the pre-filtering point set, and then use the RANSAC method to filter out the wake points. Experiments on real data has demonstrated the effectiveness of the proposed algorithm both in terms of feasibility and accuracy.

关键词： Three-dimensional displays Laser radar Filtering Filtering algorithms Spatial resolution Task analysis measurement by laser beam

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Research on measurement method of six degree of freedom for head based on safetr of aircraft pilot seat

Research on measurement method of six degree of freedom for ...

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CSAA/IET International conference on Aircraft Utility Systems (AUS 2020)

作者： G. Luo Z. Jin W. Xie R. Wang Aviation Key Laboratory of Science and Technology on Life-support Technology Xiangyang Hubei China AVIC Aerospace Life-support Industries Ltd. China

In order to ensure the safety of the pilot's life, the six degree of freedom data of the ATd head need to be obtained through dynamic impact test to evaluate the possibility of head injury in the cockpit. A binocular photogrammetry method by the simplified solution of normal equation based on bundle adjustment was proposed. On the basis of satisfying the imaging requirements of high-speed cameras, the 3d position and posture data of the head were obtained by shooting and analyzing the images of the test process.

关键词： vehicle dynamics photogrammetry seats biomechanics impact testing injuries air safety stereo image processing pose estimation aircraft testing aerospace engineering dynamic testing

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