Deep learning methods have exhibited remarkable performance in addressing various inverse problems. Nevertheless, most of existing models are trained for specific sampling processes. Their performance deteriorates sig...
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Prediction-based active perception has shown the potential to improve the navigation efficiency and safety of the robot by anticipating the uncertainty in the unknown environment. The existing works for 3D shape predi...
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ISBN:
(纸本)9781665491907
Prediction-based active perception has shown the potential to improve the navigation efficiency and safety of the robot by anticipating the uncertainty in the unknown environment. The existing works for 3D shape prediction make an implicit assumption about the partial observations and therefore cannot be used for real-world planning and do not consider the control effort for next-best-view planning. We present Pred-NBV, a realistic object shape reconstruction method consisting of PoinTr-C, an enhanced 3D prediction model trained on the ShapeNet dataset, and an information and control effort-based next-best-view method to address these issues. Pred-NBV shows an improvement of 25.46% in object coverage over the traditional methods in the AirSim simulator, and performs better shape completion than PoinTr, the state-of-the-art shape completion model, even on real data obtained from a Velodyne 3D LiDAR mounted on DJI M600 Pro.
作者:
Lombardi, S.Visconti, F.Mastropietro, M.INAF
Osservatorio Astronomico di Roma Via Frascati 33 Monte Porzio Catone RomaI-00078 Italy ASI
Space Science Data Center Via del Politecnico s.n.c. RomaI-00133 Italy
The interaction of gamma rays and cosmic rays with the Earth’s atmosphere initiate air showers that, in turn, induce the emission of Cherenkov photons detectable by ground-based Imaging Atmospheric Cherenkov Telescop...
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data imputation of incompleteimage sequences is an essential prerequisite for analyzing and monitoring all development stages of plants in precision agriculture. For this purpose, we propose a conditional Wasserstein...
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ISBN:
(纸本)9783031167881;9783031167874
data imputation of incompleteimage sequences is an essential prerequisite for analyzing and monitoring all development stages of plants in precision agriculture. For this purpose, we propose a conditional Wasserstein generative adversarial network TransGrow that combines convolutions for spatial modeling and a transformer for temporal modeling, enabling time-dependent image generation of above-ground plant phenotypes. Thereby, we achieve the following advantages over comparable data imputation approaches: (1) The model is conditioned by an incompleteimage sequence of arbitrary length, the input time points, and the requested output time point, allowing multiple growth stages to be generated in a targeted manner;(2) By considering a stochastic component and generating a distribution for each point in time, the uncertainty in plant growth is considered and can be visualized;(3) Besides interpolation, also test-extrapolation can be performed to generate future plant growth stages. Experiments based on two datasets of different complexity levels are presented: Laboratory single plant sequences with Arabidopsis thaliana and agricultural drone image sequences showing crop mixtures. When comparing TransGrow to interpolation in image space, variational, and adversarial autoencoder, it demonstrates significant improvements in image quality, measured by multi-scale structural similarity, peak signal-to-noise ratio, and Frechet inception distance. To our knowledge, TransGrow is the first approach for time- and image-dependent, high-quality generation of plant images based on incomplete sequences.
The construction of three-dimensional porous media structures using generative adversarial network models is currently a hot research topic. When using this method for 3D reconstruction, a rich training data is requir...
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Limited-view sensor arrangement is a major concern in medical imaging as it limits the data that the sensor could acquire. However, this limitation, signal sparsity, can be exploited using compressive sensing (CS) tec...
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ISBN:
(纸本)9798350300673
Limited-view sensor arrangement is a major concern in medical imaging as it limits the data that the sensor could acquire. However, this limitation, signal sparsity, can be exploited using compressive sensing (CS) techniques to reconstruct high-resolution images. The objective of this research paper is to develop CS-based algorithms for reconstructing images in limited-view photoacoustic tomography. Various CS reconstruction algorithms and sensor arrangements were assessed to identify the optimal approach for reconstructing images from limited-view sensor data. The results show that the split Bregman total variation (SBTV)-l(1) CS algorithm is the most efficient for all sensor arrangements. The study also reveals that the convex sensor array yields the best results among all sensor arrangements. Additionally, the implementation of SBTV-l(1) using Cholesky factorization requires less computation time and is 10 to 15 times faster than the direct implementation.
Sampling matrix design and reconstruction scheme development are two critical issues in image compressed sensing (CS). For the first issue, uniform sampling matrices are commonly used, which ignore the characteristics...
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Removing dense foreground occlusion fromimages and reconstructing the target of interest is a critical vision task. In previous studies, it was generally tackled through frame-based methods, but the performance was l...
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A remote-control system based on the integration of automation technology and Internet of Things technology is designed to realize the remote control, monitoring and maintenance of sewage treatment equipment. This pro...
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We study the notion of consistency between a 3D shape and a 2D observation and propose a differentiable formulation which allows computing gradients of the 3D shape given an observation from an arbitrary view. We do s...
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We study the notion of consistency between a 3D shape and a 2D observation and propose a differentiable formulation which allows computing gradients of the 3D shape given an observation from an arbitrary view. We do so by reformulating view consistency using a differentiable ray consistency (DRC) term. We show that this formulation can be incorporated in a learning framework to leverage different types of multi-view observations e.g., foreground masks, depth, color images, semantics etc. as supervision for learning single-view 3D prediction. We present empirical analysis of our technique in a controlled setting. We also show that this approach allows us to improve over existing techniques for single-view reconstruction of objects from the PASCAL VOC dataset.
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