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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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Small CPU times and fast interactivity in sonar seabottom surveys

Small CPU times and fast interactivity in sonar seabottom su...

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international symposium on 3d data processing visualization and transmission

作者： R.E. Loke J.M.H. du Buf Vision Laboratory Department of Electronics and Computer Science University of Algarve Faro Portugal

Sonar profiling of the seabottom provide 3d data sets that can cover huge survey areas with many gaps. We describe a multiresolution framework or visualization pipeline that is being optimized for dealing with such data, taking into account both the CPU time and the user interactivity. We describe the techniques employed: (a) the construction of a quadtree that allows to eliminate gaps by interpolating available 3d data, (b) a first but coarse visualization at a high tree level in order to rapidly change or adjust the region of interest, and (c) a very efficient triangulation (mesh reduction) that allows for a fast interactivity even at the highest detail level. By using one single octree, all processing can be combined because (1) gaps can be filled by interpolation since they are smaller at higher tree levels, and (2) connected components can be projected down the tree and refined using the data available there. As a result, huge data sets can be visualized in near realtime on normally-sized discrete grids using shading instead of wireframes, and this enables a fast searching for objects in the seabottom. Real CPU times are presented for a real sonar data set which is visualized at a low resolution, showing the overall shape of the seabottom, and at a high resolution, showing a (semi)buried pipeline. In order to detect an object at such a high resolution additional techniques are applied to the data: (a) an interslice interpolation in order to cope with the increased data sparseness and (b) a maximum-homogeneity filtering in order to cope with the decreased signal-to-noise-ratio. After the extraction of the pipeline a thinning technique is applied in order to be able to quantify its length.

关键词： Sonar data visualization Signal resolution Pipelines Interpolation Shape Object detection Filtering Signal to noise ratio data mining

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A surface partitioning spectrum (SPS) for retrieval and indexing of 3d CAd models

A surface partitioning spectrum (SPS) for retrieval and inde...

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international symposium on 3d data processing visualization and transmission

作者： H.J. Rea J.R. Corney d.E.R. Clark N.K. Taylor Engineering and Physical Sciences Heriot-Watt University Edinburgh UK Mathematical and Computer Sciences Heriot-Watt University Edinburgh UK

Manual indexing of large databases of geometric information is costly and often impracticable. Because of this research into retrieval and indexing schemes has focused on the development of various 3d to 2d mappings that characterise a shape as a histogram with a small number of parameters. Many methods of generating such 2d signatures (i.e. histograms) have been proposed, generally based on geometric measures of say curvature or distance. However these geometric signatures lack information about topology and tend to become indistinct as the complexity of the shape increases. This work describes a new method for characterising both the geometry and topology of shapes in a single 2d graph, the surface partitioning spectrum (SPS). We evaluate the effectiveness of using the SPS with a neural network to assess the similarity of shapes within a test set.

关键词： Indexing Shape Testing Histograms Virtual manufacturing Information retrieval Solid modeling Mathematical model data engineering Physics computing

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Surface model generation from range images of industrial environments

Surface model generation from range images of industrial env...

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international symposium on 3d data processing visualization and transmission

作者： A.d. Sappa Barcelona Spain

We present an hybrid segmentation technique that combines both the speed of an edge based approach with the robustness of a surface based approach. It consists of three stages. In the first stage a scan line approximation process extracts the edges contained into the given range image. These edges are later on used to define the positions of seed points. Through the second stage a two steps region growing technique is applied. First a 2d growing process enlarges the original seed points generating bigger regions. Next, each region is fitted to a plane and a cylinder. The one that best fit the given points is selected to represent that region and used during the 3d growing stage. The 3d growing stage is carried out taking into account the approximation error from candidate points to be added to the fitted surface. In this way, each surface is grown until no points can be added according to a user defined threshold. Finally, in the third stage, a post-processing algorithm merges neighbour regions that belong to the same surface. Experimental results by using industrial environments are presented.

关键词： Image generation Image segmentation Robustness Surface fitting Approximation error Computer vision Solid modeling Packaging Layout Refining

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Segmenting correlation stereo range images using surface elements

Segmenting correlation stereo range images using surface ele...

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international symposium on 3d data processing visualization and transmission

作者： d. Murray J.J. Little Department of Computer Science University of British Columbia Vancouver BC Canada

This work describes methods for segmenting planar surfaces from noisy 3d data obtained from correlation stereo vision. We make use of local planar surface elements called patchlets. Patchlets have 3d position, orientation and size parameters. As well, they have positional confidence measures based on the stereo sensor model. Patchlet orientations (i.e., surface normals) provide important additional dimensionality that reduces the ambiguity of segmentation-by-clustering. Patchlet size allows the use of continuity or coverage constraints when segmenting bounded surfaces from depth images. We use a region-growing approach to identify the number of surfaces that exist in a stereo image and obtain an initial estimate of the surface parameters. We refine segmentation using a maximum likelihood clustering approach that is optimised with Expectation-Maximisation. Confidence measures on the patchlet parameters allow proper weighting of patchlet contributions to the solution. We provide experimental results of the segmentation on complex outdoor scenes.

关键词： Image segmentation Stereo vision Intelligent robots Position measurement Maximum likelihood estimation Layout Computer vision Navigation Computer science data mining

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A structure-from-motion method: use of motion in three-dimensional reconstruction of moving objects from multiple-view image sequences

A structure-from-motion method: use of motion in three-dimen...

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international symposium on 3d data processing visualization and transmission

作者： H.V. Le Department of Electrical and Computer Engineering Vietnam National University of Hanoi Hanoi Vietnam

Solving the correspondence problem is the most essential task for multiview reconstruction techniques, yet finding unique correspondences between multiple views is impossible at some points, due to such problems as occlusions and ambiguities. We have developed a closed-form solution through constructive geometry for a special case of the structure-from-motion (SfM) problem with four rigidly moving points. This solution allows the 3-d position of a point on a moving object to be computed without having to find the correspondence between its projections on the image planes of multiple views, given its projected 2-d motion vector on an image plane and 3-d information of three other points. With this method we do not have to depend entirely on stereo/multiview feature correspondences in reconstructing 3-d objects, hence easing those problems caused by occlusions and ambiguities.

关键词： Image reconstruction Image sequences Stereo vision Layout Geometry Stereo image processing Closed-form solution Computer vision Application software Brightness

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A statistical method for robust 3d surface reconstruction from sparse data

A statistical method for robust 3D surface reconstruction fr...

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international symposium on 3d data processing visualization and transmission

作者： V. Blanz A. Mehl T. Vetter H.-P. Seidel Max Planck Institut für Informatik Saarbrucken Germany Department of Restorative Dentistry Ludwig-Maximilians University Munchen Germany Department Informatik University of Basel Basel Switzerland

General information about a class of objects, such as human faces or teeth, can help to solve the otherwise ill-posed problem of reconstructing a complete surface from sparse 3d feature points or 2d projections of points. We present a technique that uses a vector space representation of shape (3d morphable model) to infer missing vertex coordinates. Regularization derived from a statistical approach makes the system stable and robust with respect to noise by computing the optimal tradeoff between fitting quality and plausibility. We present a direct, noniterative algorithm to calculate this optimum efficiently, and a method for simultaneously compensating unknown rigid transformations. The system is applied and evaluated in two different fields: (1) reconstruction of 3d faces at unknown orientations from 2d feature points at interactive rates, and (2) restoration of missing surface regions of teeth for CAd-CAM production of dental inlays and other medical applications.

关键词： Statistical analysis Surface reconstruction Teeth Humans Face Shape Noise robustness Noise shaping Production systems dentistry

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Surface normals and height from non-Lambertian image data

Surface normals and height from non-Lambertian image data

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international symposium on 3d data processing visualization and transmission

作者： H. Ragheb E.R. Hancock Department of Computer Science University of York York UK Department of Computer Engineering Bu-Ali Sina University Hamedan Iran

It is well known that many surfaces exhibit reflectance that is not well modelled by Lambert's law. This is the case not only for surfaces that are rough or shiny, but also those that are matte and composed of materials that are particle suspensions. As a result, standard Lambertian shape-from-shading methods cannot be applied directly to the analysis of rough and shiny surfaces. In order to overcome this difficulty, we consider how to reconstruct the Lambertian component for rough and shiny surfaces when the object is illuminated in the viewing direction. To do this we make use of the diffuse reflectance models described by Oren and Nayar, and by Wolff. Our experiments with synthetic and real-world data reveal the effectiveness of the correction method, leading to improved surface normal and height recovery.

关键词： Rough surfaces Surface roughness Surface topography Reflectivity Surface reconstruction Brightness Light scattering Computer science Suspensions Image reconstruction

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Adaptive space carving

Adaptive space carving

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international symposium on 3d data processing visualization and transmission

作者： A.A. Montenegro M. Gattass P.C.P. Carvalho L.C.P.R. Velho Instituto de Matemáatica Pura e Aplicada Brazil Departmento de Informática PUC-Rio Brazil

In this work, we present an adaptive space carving method for scene reconstruction from a set of images obtained from low cost calibrated Webcams. Our method uses a combination of silhouette and photometric information to efficiently carve the shape of the observed scene out of a volumetric space represented by an octree data structure. In this method different resolutions are considered both in object space and in image space. This led us to adopt a strategy in which the information used by the photo-consistency test is registered in scene space by projective texture mapping. Another important question addressed in this work is the high level of noise present in low cost Webcams. To deal with this problem we devised a statistical photo-consistency test that uses statistical estimators for the noise introduced by the sensors of the cameras.

关键词： Layout Costs Testing Image reconstruction Photometry Shape data structures Image resolution Noise level Cameras

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Fast and robust bore detection in range image data for industrial automation

Fast and robust bore detection in range image data for indus...

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international symposium on 3d data processing visualization and transmission

作者： G. Biegelbauer M. Vincze Automation and Control Institute University of Technology Vienna Vienna Austria

This work presents a fast and robust method to precisely segment and locate bore holes of 4 to 50mm diameter. The task is solved by a robot moving a compact triangulation scanning sensor to all sides of the object and scanning the bore holes. Exploiting the knowledge about the expected bore diameter and bore pose makes it possible to develop highly robust algorithms for an industrial application. Sparse data of the bore hole is sufficient to segment the bore independent of bore hole chamfer type using a robust normal vector fit and a classification based on the Gaussian image. A sequential algorithm to fit the bore cylinder makes it possible to calculate the bore pose in less than 1 second. Experiments demonstrate that 120 degrees of the bore hole surface are sufficient for robust localization within 0.3mm and 0.5 degrees even in the presence of ghost points and notches in the bore holes.

关键词： Robustness Boring Inspection Endoscopes Robotics and automation Image segmentation Robot sensing systems data visualization Automatic control Robust control

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Multi-camera reconstruction based on surface normal estimation and best viewpoint selection

Multi-camera reconstruction based on surface normal estimati...

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international symposium on 3d data processing visualization and transmission

作者： X. Zabulis K. daniilidis GRASP Laboratory University of Pennsylvania Philadelphia PA USA

We present a new algorithm for reconstructing an environment from images recorded by multiple calibrated cameras. Multiple camera systems challenge traditional stereo algorithms in many issues including view registration, selection of commonly visible image parts for matching, and the fact that surfaces are imaged differently from different viewpoints and poses. On the other hand, multiple cameras have the advantage of revealing surfaces at occluding contours and covering wide areas. The presented algorithm makes no assumption on camera loci and outputs an occupancy voxel grid, with occupied voxels being accompanied by a surface normal. It is correlation-based, however, outperforms the conventional correlation-based approach in reconstruction quality. It is highly parallelizable, and most importantly, is robust against artifacts due to camera registration errors that are typically encountered when using multiple cameras.

关键词： Surface reconstruction Cameras Image reconstruction Robustness Stereo image processing Layout Clustering algorithms Merging Calibration Extraterrestrial phenomena

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