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directional associative Markov Network for 3-d point cloud classification 4

Directional associative Markov Network for 3-D point cloud c...

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4th international symposium on 3d data processing, visualization and transmission, 3dpvt 2008

作者： Munoz, daniel Vandapel, Nicolas Hebert, Martial Carnegie Mellon University United States

In this paper we address the problem of automated three dimensional point cloud interpretation. this problem is important for various tasks from environment modeling to obstacle avoidance for autonomous robot navigation. In addition to locally extracted features, classifiers need to utilize contextual information in order to perform well. A popular approach to account for context is to utilize the Markov Random Field framework. One recent variant that has successfully been used for the problem considered is the Associative Markov Network (AMN). We extend the AMN model to learn directionality in the clique potentials, resulting in a new anisotropic model that can be efficiently learned using the subgradient method. We validate the proposed approach using data collected from different range sensors and show better performance against standard AMN and Support Vector Machine algorithms. © 2008 Georgia Institute of Technology.

关键词： Markov processes

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3d object reconstruction with heterogeneous sensor data 4

3D object reconstruction with heterogeneous sensor data

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4th international symposium on 3d data processing, visualization and transmission, 3dpvt 2008

作者： Guan, Li Franco, Jean-Sebastien Pollefeys, Marc UNC Chapel HillNC United States LaBRI INRIA Sud-Ouest University of Bordeaux France ETH-Zurich Switzerland

In this paper, we reconstruct 3d objects with a heterogeneous sensor network of Time of Flight (ToF) Range Imaging (RIM) sensors and high-res camcorders. With this setup, we first carry out a simple but effective depth calibration for the RIM cameras. We then combine the camcorder silhouette cues and RIM camera depth information, for the reconstruction. Our main contribution is the proposal of a sensor fusion framework so that the computation is general, simple and scalable. Although we only discuss the fusion of conventional cameras and RIM cameras in this paper, the proposed framework can be applied to any vision sensors. this framework uses a space occupancy grid as a probabilistic 3d representation of scene contents. After defining sensing models for each type of sensors, the reconstruction simply is a Bayesian inference problem, and can be solved robustly. the experiments show that the quality of the reconstruction is substantially improved from the noisy depth sensor measurement. © 2008 Georgia Institute of Technology.

关键词： Video cameras

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Towards real-time stereo using non-uniform image sampling and sparse dynamic programming 4

Towards real-time stereo using non-uniform image sampling an...

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4th international symposium on 3d data processing, visualization and transmission, 3dpvt 2008

作者： Sarkis, Michel diepold, Klaus Institute for Data Processing Technische Universität München Arcisstr. 21 Munich80290 Germany

Constructing the 3d mesh of a scene from stereo images is a major task in computer vision. It usually involves several steps including stereo matching and meshing. Unfortunately, the time required to generate the 3d mesh is time demanding due to the large amount of pixels to be processed. In this work, we propose a framework to accelerate the overall process. the key issue is to first reduce the number of pixels by approximating an image with a content adaptive mesh. the nodes of the mesh are sparse and they represent the non-uniform samples of the image. To benefit from the reduced set of pixels, we formulate a dynamic programming based stereo matching algorithm which computes the depth only at the sparse samples. We then show by setting up some tests using some real images that the non-uniform samples are sufficient to recover the original dense depth map of the scene by interpolating them using the mesh. the results obtained also show that the employment of the proposed strategy reduces the overall processing time of stereo matching to more than 50% of the original time. We are now able to construct scenes in real-time using less computational resources. © 2008 Georgia Institute of Technology.

关键词： Pixels

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Fast surface reconstruction and segmentation with ground-based and airborne LIdAR range data 4

Fast surface reconstruction and segmentation with ground-bas...

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4th international symposium on 3d data processing, visualization and transmission, 3dpvt 2008

作者： Carlberg, Matthew Andrews, James Gao, Peiran Zakhor, Avideh University of California Video and Image Processing Laboratory Berkeley United States

Recent advances in range measurement devices have opened up new opportunities and challenges for fast 3d modeling of large scale outdoor environments. Applications of such technologies include virtual walk and fly through, urban planning, disaster management, object recognition, training, and simulations. In this paper, we present general methods for surface reconstruction and segmentation of 3d colored point clouds, which are composed of partially ordered groundbased range data registered with airborne data. Our algorithms can be applied to a large class of LIdAR data acquisition systems, where ground-based data is obtained as a series of scan lines. We develop an efficient and scalable algorithm that simultaneously reconstructs surfaces and segments ground-based range data. We also propose a new algorithm for merging ground-based and airborne meshes which exploits the locality of the groundbased mesh. We demonstrate the effectiveness of our results on data sets obtained by two different acquisition systems. We report results on a ground-based point cloud containing 94 million points obtained during a 20 km drive. © 2008 Georgia Institute of Technology.

关键词： Object recognition

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A three-tier hierarchical model for capturing and rendering of 3d geometry and appearance from 2d images 4

A three-tier hierarchical model for capturing and rendering ...

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4th international symposium on 3d data processing, visualization and transmission, 3dpvt 2008

作者： Jagersand, Martin Birkbeck, Neil Cobzas, dana CS University of Alberta Canada

We propose a three-scale hierarchical representation of scenes and objects and show how this representation is suitable for both computer vision capture of models from images and efficient photo-realistic graphics rendering. the model consists of: (1) a conventional triangulated geometry on the macro-scale;(2) a displacement map, introducing pixel-wise depth with respect to each planar model facet (triangle) on the meso level;(3) a photo-realistic micro-structure represented by an appearance basis spanning viewpoint variation in texture space. We implement a capture and rendering system for this model. Conventional Shape-From-Silhouette or Structure-From-Motion is used to capture the coarse macro geometry, variational shape and reflectance estimation for the meso-level, and texture basis optimization for the micro level. For efficiency the meso and micro level routines are both HW accelerated. Photo-realistic capture of complex scenes is thus possible in a few minutes using budget cameras and PC's, and rendering is real-time. Experimental results and videos show models from regular images of humans and objects. © 2008 Georgia Institute of Technology.

关键词： three dimensional computer graphics

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Statistical estimation of Euler characteristic from volumetric data 4

Statistical estimation of Euler characteristic from volumetr...

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4th international symposium on 3d data processing, visualization and transmission, 3dpvt 2008

作者： Rybnikov, Konstantin daniels, Karen Klain, daniel Jones, Bradford durante, Vincent University of Massachusetts at Lowell 1 University Ave. LowellMA01854 United States

determining the shape of a complex 3d object from point data is important in areas such as medical tomography, molecular biology, and X-ray crystallography. Using integral geometry techniques we developed, implemented and tested a family of efficient estimators for the Euler characteristic, an important topological invariant. Our algorithms work with "volumetric" input data, i.e., with point samplings of 3d bodies, not just their boundaries. Our programs can also be used for even more practical inquiries, such as estimating the number of connected components in the input data, finding the number of spherical voids in a connected 3d body, etc. Our methods are meshless, unlike most approaches for reconstruction from point data. Our algorithms have O(N logN) time complexity for N points, but have a significant advantage in terms of speed and memory usage when compared to methods that approximate unknown bodies with simplicial complexes or splines. due to the nature of mathematical functions evaluated by our algorithms, which are only polynomials of degree at most n for n, we have exceptional robustness with respect to floating point errors. © 2008 Georgia Institute of Technology.

关键词： digital arithmetic

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Integration of a time-of-flight camera into a mixed reality system for handling dynamic scenes, moving viewpoints and occlusions in real-time 4

Integration of a time-of-flight camera into a mixed reality ...

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4th international symposium on 3d data processing, visualization and transmission, 3dpvt 2008

作者： Bartczak, Bogumil Schiller, Ingo Beder, Christian Koch, Reinhard Computer Science Department Christian-Albrechts-University Kiel Hermann-Rodewald-Str. 3 Kiel24118 Germany

We present a novel approach to mixed reality applications. the key characteristics of the presented system are the use of a automatically generated static environment model and a time-of-flight camera device. the combination of both allows the correct handling of mutual occlusion between real and virtual content on the fly, which is not possible with the currently applied approaches. Typically expensive studio setups with complex camera tracking installations and multi-camera approaches in combination with chroma-keying facilities are used. Our system is rather inexpensive, compact, mobile, flexible and provides convenient calibration procedures. the use of a background model not only eliminates the need for chroma-keying in mixed reality production, it moreover supports planing and alignment of virtual content. Based on depth information the system is generating appropriate depth maps in realtime, making the approach suitable for 3d-TV productions. the presented paper discusses all key elements of mixedreality applications based on our approach. this includes camera pose tracking, correct real-time handling between interacting virtual and real content and the fast environment model building. © 2008 Georgia Institute of Technology.

关键词： Cameras

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A fully automatic approach for human recognition from profile images using 2d and 3d ear data 4

A fully automatic approach for human recognition from profil...

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4th international symposium on 3d data processing, visualization and transmission, 3dpvt 2008

作者： Islam, S.M.S. Bennamoun, M. Mian, A.S. davies, R. School of Computer Science and Software Engineering University of Western Australia 35 Stirling Hwy CrawleyWA6009 Australia

the use of ear shape as a biometric trait for recognizing people in different applications is one of the most recent trends in the research communities. In this work, a fully automatic and fast technique based on the AdaBoost algorithm is used to detect a subject's ear from his/her 2d and corresponding 3d profile images. A modified version of the Iterative Closest Point (ICP) algorithm is then used for the matching of this extracted probe ear to the previously stored ear data in a gallery database. A coarse-tofine hierarchical technique is used where the ICP algorithm is first applied on low and then on high resolution meshes of 3d ear data. We obtain a rank one recognition rate of 93% while testing with the University of Notre dame Biometrics database. the proposed recognition approach does not require any manual intervention or sharp extraction of ear contour from the detected ear region. No segmentation of the extracted ear is required and more importantly, the system performance does not rely on the presence of a particular feature of the ear. © 2008 Georgia Institute of Technology.

关键词： Adaptive boosting

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Efficient 3d shape acquisition and registration using hybrid scanning data 4

Efficient 3D shape acquisition and registration using hybrid...

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4th international symposium on 3d data processing, visualization and transmission, 3dpvt 2008

作者： Zheng, Hongwei Saupe, dietmar Roth, Markus Böhler, Andreas Opuchlik, Peter Computer and Information Science University of Konstanz Germany

We consider efficient 3d shape acquisition and surface registration using dissimilar laser range scanners. Most previous solutions do not use global shape information for optimal local surface registration. In this paper, we exploit the fundamental 3d scanning "trade-off" between the coverage of the global shape structure and numerous local surface patches to construct a hybrid laser scanning system provided that it can acquire both global and local shape information. the scanned low-resolution global shape data supplies the global shape structural prior for registering the high-resolution local 3d surface patches. Local surface patches can thus be optimally registered requiring less overlapping and thus reducing redundancy. To verify the feasibility of this system, we have implemented a prototype based on two laser range scanners, a hand-held one for the coarse global low-resolution model and a second stationary high-resolution line scanning system. this prototype system was evaluated for various real 3d models. Based on geometric data alone without using texture information, the results show that the proposed hybrid 3d scanning approach outperforms previous approaches in the presence of noise and outliers. the approach can be further applied to other practical 3d shape applications. © 2008 Georgia Institute of Technology.

关键词： Economic and social effects

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Proxy-based compression of 2 1/2 d structure of dynamic events for tele-immersive systems 4

Proxy-based compression of 2 1/2 D structure of dynamic even...

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4th international symposium on 3d data processing, visualization and transmission, 3dpvt 2008

作者： Verlani, Pooja Narayanan, P.J. Centre for Visual Information Technology IIIT Hyderabad500032 India

Capture of dynamic events is an active research area today. Capturing the 2 1/2 d geometric structure and photometric appearance of dynamic scenes finds applications in 3d tele-conferencing systems, 3dTV etc. the captured "depth movies" contain aligned sequences of depth maps and textures and are often streamed to a distant location for immersive viewing. the depth maps are heavy and need efficient compression schemes. In this paper, we present a scheme to compress depth movies of human actors using a parametric proxy model for the underlying action. We use a generic articulated human model as the proxy and the various joint angles as its parameters for each time instant to represent a common prediction of the scene structure. the difference or residue between the captured depth and the depth of the proxy represents the scene to exploit spatial coherence. differences in residues across time are used to exploit temporal coherence. Intra-frame coded frames and difference-coded frames provide random access and high compression. We show results on several synthetic and real actions to demonstrate the compression ratio and resulting quality using a depth-based rendering of the decoded scene. © 2008 Georgia Institute of Technology.

关键词： three dimensional computer graphics

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