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检索条件"任意字段=International Symposium on 3D Data Processing Visualization and Transmission"

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The Recursive Multi-Frame Planar Parallax Algorithm

The Recursive Multi-Frame Planar Parallax Algorithm

引用

international symposium on 3d data processing visualization and transmission

作者： Christopher Geyer Todd Templeton Marci Meingast S. Shankar Sastry The Department of Computer Science Carnegie Mellon University Pittsburgh PA USA The Department of Electrical Engineering and Computer Sciences University of California Berkeley Berkeley CA USA

This paper presents a method for obtaining accurate dense elevation and appearance models of terrain using a single camera on-board an aerial platform. Applications of this method include geographical information systems, robot path planning, immersion and visualization, and surveying for scientific purposes such as watershed analysis. When given geo-registered images, the method can compute terrain maps on-line in real time. This algorithm, called the recursive multi-frame planar parallax algorithm, is a recursive extension of Irani et al.'s multi-frame planar parallax framework and in theory, with perfectly registered imagery, it will produce range data with error expected to increase between linearly and with the square root of the range, depending on image properties and whether other constants such as framerate and vehicle velocity are held constant. This is an improvement over stereo systems whose expected errors are proportional to the square of the range. We show experimental evidence on synthetic imagery and on a real video sequence taken in an experiment for autonomous helicopter landing.

关键词： Cameras Cost function Robot vision systems Path planning visualization Helicopters Information systems Information analysis Remotely operated vehicles Video sequences

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3d City Modeling Using Cognitive Loops

3D City Modeling Using Cognitive Loops

引用

international symposium on 3d data processing visualization and transmission

作者： Nico Cornelis Bastian Leibe Kurt Cornelis Luc Van Gool KU Leuven Leuven Belgium ETH Zurich Zurich Switzerland

3d city modeling using computer vision is very challenging. A typical city contains objects which are a nightmare for some vision algorithms, while other algorithms have been designed to identify exactly these parts but, in their turn, suffer from other weaknesses which limit their application. For instance, moving cars with metallic surfaces can degrade the results of a 3d city reconstruction algorithm which is primarily based on the assumption of a static scene with diffuse reflection properties. On the other hand, a specialized object recognition algorithm could be able to detect cars, but also yields too many false positives without the availability of additional scene knowledge. In this paper, the design of a cognitive loop which intertwines both aforementioned algorithms is demonstrated for 3d city modeling, proving that the whole can be much more than the simple sum of its parts. A cognitive loop is the mutual transfer of higher knowledge between algorithms, which enables the combination of algorithms to overcome the weaknesses of any single algorithm. We demonstrate the promise of this approach on a real-world city modeling task using video data recorded by a survey vehicle. Our results show that the cognitive combination of algorithms delivers convincing city models which improve upon the degree of realism that is possible from a purely reconstruction-based approach.

关键词： Cities and towns Algorithm design and analysis Object recognition Layout Computer vision Application software Surface reconstruction degradation Reconstruction algorithms Reflection

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EKF-Based Recursive dual Estimation of Structure & Motion from Stereo data

EKF-Based Recursive Dual Estimation of Structure & Motion fr...

引用

international symposium on 3d data processing visualization and transmission

作者： Hongsheng Zhang Shahriar Negahdaripour Underwater Vision and Imaging Laboratory Electrical and Computer Engineering Department University of Miami Coral Gables FL USA

Extended Kalman filters (EKF) have been proposed to estimate ego-motion and to recursively update scene structure in the form of 3-d positions of selected prominent features from motion and stereo sequences. Previous methods typically accommodate no more than a few dozen features for real-time processing. To maintain motion estimation accuracy, this calls for high contrast images to compute image feature locations with precision. Within manmade environments, various prominent corner points exist that can be extracted and tracked with required accuracy. However, prominent features are more difficult to localize precisely in natural scenes. Statistically, more feature points become necessary to maintain the same level of motion estimation accuracy and robustness. However, this imposes a computational burden beyond the capability of EKF-based techniques for real-time processing. A sequential dual EKF estimator utilizing stereo data is proposed for improved computation efficiency. Two important issues, unbiased estimation and stochastic stability are addressed. Furthermore, the dynamic feature set is handled in a more effective, efficient and robust way. Experimental results to demonstrate the merits of the new theoretical and algorithmic developments are presented.

关键词： Motion estimation Recursive estimation Layout Robustness State estimation Computational efficiency Noise measurement Parameter estimation Laboratories Computer vision

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Perturbation Estimation of the Subspaces for Structure from Motion with Noisy and Missing data

Perturbation Estimation of the Subspaces for Structure from ...

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international symposium on 3d data processing visualization and transmission

作者： Hongjun Jia Jeff Fortuna Aleix M. Martinez Department of Electrical and Computer Engineering Ohio State Uinversity Columbus OH USA

It is common when analyzing experimental data to encounter matrices that have been contaminated by noise and have missing elements. Missing data can be recovered with imputation methods if the measurement data matrix is of low rank and the data is noise-free. However, iterative imputation can produce poor results for cases of large noise or a large proportion of missing data. Non-imputing methods rely on the use of existent data and require a selection of complete submatrices. Jacobs introduced a non-imputing method which can produce good results, but the randomness in selecting the submatrices cannot guarantee a consistently accurate recovery of missing data. Chen and Suter's method chooses the most reliable submatrix based on the number of missing data elements only, which fails to consider the effect of noise on the selected data. Herein, a new criterion based on an estimate of the sensitivity of submatrices to perturbation is introduced which takes into consideration that in some cases a column with more missing data could provide more useful information than one with less missing data. Experimental results for the problem of structure from motion with noisy point correspondences and missing data show that our criterion can sort submatrices properly in terms of their possible perturbation and recover the 3d structure of the scene more accurately than other non-imputing methods.

关键词： Motion estimation Jacobian matrices Pollution measurement Matrix decomposition Layout Coordinate measuring machines Shape State estimation Motion analysis data analysis

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A Bayesian Approach to Building Footprint Extraction from Aerial LIdAR data

A Bayesian Approach to Building Footprint Extraction from Ae...

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international symposium on 3d data processing visualization and transmission

作者： Oliver Wang Suresh K. Lodha david P. Helmbold University of California Santa Cruz CA USA

Building footprints have been shown to be extremely useful in urban planning, infrastructure development, and roof modeling. Current methods for creating these footprints are often highly manual and rely largely on architectural blueprints or skilled modelers. In this work we use aerial LIdAR data to generate building footprints automatically. Existing automatic methods have been mostly unsuccessful due to large amounts of noise around building edges. We present a novel Bayesian technique for automatically constructing building footprints from a pre-classified LIdAR point cloud. Our algorithm first computes a bounded- error approximate building footprint using an application of the shortest path algorithm. We then determine the most probable building footprint by maximizing the posterior probability using linear optimization and simulated annealing techniques. We have applied our algorithm to more than 300 buildings in our data set and observe that we obtain accurate building footprints compared to the ground truth. Our algorithm is automatic and can be applied to other man-made shapes such as roads and telecommunication lines with minor modifications.

关键词： Bayesian methods data mining Laser radar Buildings Urban planning Clouds Computational modeling Simulated annealing Shape Roads

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A Structured Light Range Imaging System Using a Moving Correlation Code

A Structured Light Range Imaging System Using a Moving Corre...

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international symposium on 3d data processing visualization and transmission

作者： Frank Pipitone Ralph Hartley Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Inc. Washington D.C. USA

We describe a system which produces a dense accurate range image using 8 consecutive frames of camera data in conjunction with a special projector. A prototype has been built and tested, and yields a typical range error of about 0.2 mm at 2 meters range with a baseline just over one meter. The camera is directed at a scene, along with a stripe projector consisting of a thin light source (xenon tube and slit) on the axis of a turntable, and a binary mask conforming to a cylinder coaxial with this. The mask has alternate opaque and transparent stripes parallel to the axis. It forms a sequence in which each subsequence of given length n (8 here) is different. No lens is used in the projector, deliberately smoothing the resulting illumination in a shadowing process. In operation, the turntable rotates, and images are taken at uniform angular intervals for several consecutive frames. In the consecutive frames, a given pixel records samples of the brightness of a fixed surface point. The vector consisting of those samples, when normalized, is unique to the place in the sequence from which it came, thus enabling the computation, via a fast indexing process, of the 3d position of the surface point. The code is similar to a deBruijn sequence, but modified to reduce range error. Several types of calibration and error compensation were used to produce an accurate range image.

关键词： Cameras Prototypes Testing Layout Light sources Xenon Coaxial components Lenses Smoothing methods Lighting

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Fast Level Set Multi-View Stereo on Graphics Hardware

Fast Level Set Multi-View Stereo on Graphics Hardware

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international symposium on 3d data processing visualization and transmission

作者： Patrick Labatut Renaud Keriven Jean-Philippe Pons Département dInformatique École normale supérieure Paris France École Nationale des Ponts et Chaussées Marne la vallee France

In this paper, we show the importance and feasibility of much faster multi-view stereo reconstruction algorithms relying almost exclusively on graphics hardware. Reconstruction algorithms have been steadily improving in the last few years and several state-of-the-art methods are nowadays reaching a very impressive level of quality. However all these modern techniques share a very lengthy computational time that completely forbids their more widespread use in practical setups: the typical running time of such algorithms range from one to several hours. One possible solution to this problem seems to lie in the use of graphics hardware: more and more computer vision techniques are taking advantage of the availability of cheap computational horsepower and divert graphics hardware from its original purpose to accelerate the early stages of some algorithms. We present here an almost full implementation on graphics hardware of a multi-view stereo algorithm based on surface deformation by a PdE: this algorithm tries to minimize the error between input images and predicted ones by re- projection via the surface. As it mainly works on whole images, it is well suited for graphics hardware. We show how we succeeded to bring the whole reconstruction time within minutes. Results for synthetic and real data sets are presented with computational times and compared with those of other state-of-the-art algorithms.

关键词： Level set Hardware Stereo vision Computer graphics Reconstruction algorithms Computer vision Surface reconstruction Stereo image processing Time sharing computer systems Acceleration

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Multicamera systems in the moving body recognition

Multicamera systems in the moving body recognition

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48th international symposium ELMAR-2006 on Multimedia Signal processing and Communications

作者： Prochazka, Ales Kubicek, Miroslav Pavelka, Ales Prague Inst Chem Technol Tech 1905 CR-16628 Prague 6 Czech Republic

ISBN: (纸本)9789537044039

The contribution presents the process of the space localization of the moving object using a multicamera system, possible remote data transmission through communication links and image acquisition problems. The money body recognition and its mathematical modelling including spline interpolation of its trajectory in the three-dimensional space from the main part of the paper. Final results are presented in the computer environment of virtual reality allowing the detail study of the whole system that can represent an engineering or a biomedical process.

关键词： image acquisition object recognition 3d modelling virtual reality spline interpolation

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Terrestrial laser scanning metric control: Assessment of metric accuracy for cultural heritage modeling

Terrestrial laser scanning metric control: Assessment of met...

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2006 ISPRS Commission V symposium on Image Engineering and Vision Metrology

作者： Lahoz, J.G. Aguilera, d.G. Finat, J. Martínez, J. Fernández, J. San, J. José IMAP3D Group Land and Cartography Engineering Department Univ. of Salamanca Spain DAVAP Group Lab.2.2 Building I+D Univ. of Valladolid Spain

This contribution gives account of one of the results achieved by the group MAPA (Models and Algorithms for the digital documentation of Architectural Heritage) that integrates the IMAP3d group and the dAVAP group. The group work is based on the assumption that preservation of cultural heritage is a responsibility for the whole cartographic community and that the recent advances in digital Image processing, Photogrammetry and Computer Graphics provide efficient tools for the digital documentation and visualization of the Cultural Heritage. The increasing availability of devices for 3d acquisition in digital format can be used to build very precise models of 3d objects in an effective and fast way and with a low personal cost. The aim of the group is to develop algorithms to test, process, integrate and visualize data acquired from singular historical buildings by means of a 3d laser scanner or by means of photogrammetric or surveying procedures. More specifically, through this paper we address the assessment of the accuracy of the 3d Laser Scanner while documenting a particular historical building: the church of "San Nicolás" in Ávila (Spain). To achieve so we have designed, developed and measured a control geodetic network, assessed the accuracy and reliability related to it and, finally, compared the coordinates obtained through the laser scanner with the coordinates obtained through the surveying process. The plan of the paper is, firstly, to establish the background of our work;then, to describe briefly the target building;next, to describe the sensors involved;afterwards, to describe the geodetic network and the methodology used to measure and adjust it, present the experimental results and, finally, summarize some relevant conclusions. © 2018 international Society for Photogrammetry and Remote Sensing. All rights reserved.

关键词： digital devices

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Texture Simplification in 3d Maps for visualization at Low Resolution

Texture Simplification in 3D Maps for Visualization at Low R...

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IEEE international symposium on Intelligent Signal processing and Communication Systems (ISPACS)

作者： Ishtiaq Rasool Khan Masahiro Okuda Department of Information & Media Sciences University of Kitakyushu Kitakyushu Japan

Three-dimensional (3d) urban models, come with huge data size, mainly consisting of the information of geometry and the texture, and the simplification of both is often needed for efficient streaming, rendering and visualization. In this paper, we present different techniques for simplification of different types of the texture images in 3d urban maps, aiming at their visualization on low resolution screens, such as those of the cell phones. We sort the images into two different classes based on their certain features, and develop suitable simplification techniques for each class. The simplified images preserve the main features and have significantly smaller size as compared to the originals

关键词： Urban planning data visualization Solid modeling Streaming media Information geometry Image resolution Cellular phones Application software Military computing Virtual environment

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