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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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Reconstructing urban 3d model using vehicle-borne laser range scanners

Reconstructing urban 3D model using vehicle-borne laser rang...

引用

international Conference on 3d Imaging, Modeling, processing, visualization and transmission (3dIMPVT)

作者： H. Zho R. Shibasaki Inst. of Ind. Sci. Tokyo Univ. Japan Center for Spatial Information Science Univ. of Tokyo

ISBN: (纸本)0769509843

In this research, a novel method of reconstructing 3d urban scene using vehicle-borne laser range scanners is proposed. Two one-dimensional laser range scanners are mounted on the roof of a vehicle, doing horizontal and vertical profiling respectively. As the vehicle moves ahead, a horizontal and vertical range profile of the surroundings is captured at each odometer trigger. The freedom of vehicle motion is reduced from six to three by assuming that the ground surface is flat and smooth so resulting in the vehicle moving on almost the same horizontal plane. Horizontal range profiles, which have an overwhelming overlay between successive ones, are registered to trace vehicle location and attitude. Vertical range profiles are aligned to the coordinate system of the horizontal one according to the physical geometry between the pair of laser range scanners, and subsequently to a global coordinate system to generate a 3d model. An experiment is conducted where a 3d model is reconstructed by registering and integrating 2412 horizontal and vertical range profiles. Two ground truths are used in examination. They are the outputs of a GPS/INS/Odometer based positioning system and a 1:500 digital map of the test site. Accuracy and efficiency of the method in reconstructing 3d urban scene is demonstrated.

关键词： Laser modes Image reconstruction Layout Laser theory Land vehicles Road vehicles Solid modeling Charge coupled devices Charge-coupled image sensors data mining

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Low-delay compression of polygon mesh deformation data for remote haptic interaction with simulated deformable objects

Low-delay compression of polygon mesh deformation data for r...

引用

international symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： Clemens Schuwerk Wolfgang Freund Eckehard Steinbach Chair of Media Technology Technische Universitat München München Germany

ISBN: (纸本)9781509009046

This paper addresses the communication of polygon mesh deformation data for remote haptic interaction with simulated deformable objects. In the studied client-server architecture, the server computes the resource-demanding finite-element-based object deformation at a low temporal update rate and transmits the resulting polygon mesh deformation data to the clients. There, the received deformation data is used to locally render the virtual environment visually and haptically at the required rates of 30 Hz and 1 kHz, respectively. We propose a low-delay lossy compression scheme for the transmission of the 3d polygon mesh deformation data, which considers the haptic and visual modalities individually. Objective and subjective evaluations show that the proposed compression scheme achieves a compression ratio of 11:1, while keeping the introduced visual and haptic distortion below the respective human perception thresholds.

关键词： Haptic interfaces deformable models Computational modeling Rendering (computer graphics) visualization Force Servers

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An accelerated approach to create 3d Web cities

An accelerated approach to create 3D Web cities

引用

international Conference on Geoinformatics

作者： lifeng liu Jinyun Fang Integration Application Center Institute of Computing Technology Chinese Academy and Sciences Beijing China

ISBN: (纸本)9781424445622

Creating 3d city from the geographical information is an important goal in the field of visualization for GIS and the needs for Web GIS are growing and expanding rapidly. Many scenes of the 3d cities are built based on the models which are made by computer aided designing software to present real scenes, however, this method costs too much time and labor with the low efficiency. This paper presents a method that can promptly construct a 3d city on the Web according to the geographical information. Our approach uses the descriptions for the city from the geographical and additional information to construct the scene and divides the buildings into ldquomolecule partsrdquo. With the bottom-up process from cursory objects to fine buildings to assemble the whole scene, the patterns correspond to Web environment which needs the distributed data management and gradual transmission. Ever divided part which can be classified into the common types and saved into distributed storage environment is constructed according to its characteristics. In addition, we first establish abstract databases to store and classify various ldquomolecule partsrdquo which are created based on geometrical arithmetic, common objects and small models. The descriptive information specifies the data from database, which just need loading rather than producing, with lower cost of time and labor. Our approach designs a processing assembling method to match the different parts of building and the level of matching can be elaborated further with the expanding interfaces. Our approach shares and reuses the resources for rendering, such as geometrical structures, materials, textures and even the small models, to diminish the amount of data and the influence of network delay. Experimental results show that our approach increases the speed for rendering and decreases the transmission capacity greatly. Our approach is appropriate for the Web environment to improve the rendering efficiency and for promptly crea

关键词： Acceleration Cities and towns Layout Buildings Geographic Information Systems Costs Assembly Spatial databases Solid modeling Rendering (computer graphics)

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An efficient scattered data approximation using multilevel B-splines based on quasi-interpolants

An efficient scattered data approximation using multilevel B...

引用

international Conference on 3d Imaging, Modeling, processing, visualization and transmission (3dIMPVT)

作者： Byung-Gook Lee Joon Jae Lee Jaechil Yoo Division of Computer and Information Engineering Dong Seo University Busan South Korea Department of Mathematics Dongeui University Busan South Korea

ISBN: (纸本)0769523277

In this paper, we propose an efficient approximation algorithm using multilevel B-splines based on quasi-interpolants. Multilevel technique uses a coarse to fine hierarchy to generate a sequence of bicubic B-spline functions whose sum approaches the desired interpolation function. To compute a set of control points, quasi-interpolants gives a procedure for deriving local spline approximation methods where a B-spline coefficient only depends on data points taken from the neighborhood of the support corresponding the B-spline. Experimental results show that the smooth surface reconstruction with high accuracy can be obtained from a selected set of scattered or dense irregular samples.

关键词： Scattering Spline Surface reconstruction Approximation algorithms Interpolation Tensile stress Surface fitting Approximation methods Approximation error Sampling methods

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Introducing Pose Consistency and Warp-Alignment for Self-Supervised 6d Object Pose Estimation in Color Images

Introducing Pose Consistency and Warp-Alignment for Self-Sup...

引用

international Conference on 3d Imaging, Modeling, processing, visualization and transmission (3dIMPVT)

作者： Juil Sock Guillermo Garcia-Hernando Anil Armagan Tae-Kyun Kim Imperial College London Niantic KAIST

ISBN: (数字)9781728181288

ISBN: (纸本)9781728181295

Most successful approaches to estimate the 6d pose of an object typically train a neural network by supervising the learning with annotated poses in real world images. These annotations are generally expensive to obtain and a common workaround is to generate and train on synthetic scenes, with the drawback of limited generalisation when the model is deployed in the real world. In this work, a two-stage 6d object pose estimator framework that can be applied on top of existing neural-network-based approaches and that does not require pose annotations on real images is proposed. The first self-supervised stage enforces the pose consistency between rendered predictions and real input images, narrowing the gap between the two domains. The second stage fine-tunes the previously trained model by enforcing the photometric consistency between pairs of different object views, where one image is warped and aligned to match the view of the other and thus enabling their comparison. In the absence of both real image annotations and depth information, applying the proposed framework on top of two recent approaches results in state-of-the-art performance when compared to methods trained only on synthetic data, domain adaptation baselines and a concurrent self-supervised approach on LINEMOd, LINEMOd OCCLUSION and HomebreweddB datasets.

关键词： Three-dimensional displays Training Pose estimation Solid modeling Annotations Cameras visualization

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Using Image Sequences for Long-Term Visual Localization

Using Image Sequences for Long-Term Visual Localization

引用

international Conference on 3d Imaging, Modeling, processing, visualization and transmission (3dIMPVT)

作者： Erik Stenborg Torsten Sattler Lars Hammarstrand Zenseact Chalmers University of Technology Czech Technical University in Prague

ISBN: (数字)9781728181288

ISBN: (纸本)9781728181295

Estimating the pose of a camera in a known scene, i.e., visual localization, is a core task for applications such as self-driving cars. In many scenarios, image sequences are available and existing work on combining single-image localization with odometry offers to unlock their potential for improving localization performance. Still, the largest part of the literature focuses on single-image localization and ignores the availability of sequence data. The goal of this paper is to demonstrate the potential of image sequences in challenging scenarios, e.g., under day-night or seasonal changes. Combining ideas from the literature, we describe a sequence-based localization pipeline that combines odometry with both a coarse and a fine localization module. Experiments on long-term localization datasets show that combining single-image global localization against a prebuilt map with a visual odometry/SLAM pipeline improves performance to a level where the extended CMU Seasons dataset can be considered solved. We show that SIFT features can perform on par with modern state-of-the-art features in our framework, despite being much weaker and a magnitude faster to compute. Our code is publicly available at ***/rulllars.

关键词： Location awareness visualization Three-dimensional displays Cameras Trajectory Simultaneous localization and mapping Pose estimation

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Incremental Catmull-Clark subdivision

Incremental Catmull-Clark subdivision

引用

international Conference on 3d Imaging, Modeling, processing, visualization and transmission (3dIMPVT)

作者： H.-R. Pakdel F. Samavati University of Calgary Canada

In this paper, a new adaptive method for Catmull-Clark subdivision is introduced. Adaptive subdivision refines specific areas of a model according to user or application needs. Naive adaptive subdivision algorithm changes the connectivity of the mesh, causing geometrical inconsistencies that alter the limit surface. Our method expands the specified region of the mesh such that when it is adaptively subdivided, it produces a smooth surface whose selected area is identical to when the entire mesh is refined. This technique also produces a surface with an increasing level of detail from coarse to fine areas of the surface. We compare our adaptive subdivision with other schemes and present some example applications.

关键词： Animation Application software Tensile stress Geometry data structures Refining Packaging Spline Surface topography Surface reconstruction

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Global Context Aware Convolutions for 3d Point Cloud Understanding

Global Context Aware Convolutions for 3D Point Cloud Underst...

引用

international Conference on 3d Imaging, Modeling, processing, visualization and transmission (3dIMPVT)

作者： Zhiyuan Zhang Binh-Son Hua Wei Chen Yibin Tian Sai-Kit Yeung Litemaze Technology VinAI Research Vietnam VinUniversity Vietnam Hong Kong University of Science and Technology

ISBN: (数字)9781728181288

ISBN: (纸本)9781728181295

Recent advances in deep learning for 3d point clouds have shown great promises in scene understanding tasks thanks to the introduction of convolution operators to consume 3d point clouds directly in a neural network. Point cloud data, however, could have arbitrary rotations, especially those acquired from 3d scanning. Recent works show that it is possible to design point cloud convolutions with rotation invariance property, but such methods generally do not perform as well as translation-invariant only convolution. We found that a key reason is that compared to point coordinates, rotation-invariant features consumed by point cloud convolution are not as distinctive. To address this problem, we propose a novel convolution operator that enhances feature distinction by integrating global context information from the input point cloud to the convolution. To this end, a globally weighted local reference frame is constructed in each point neighborhood in which the local point set is decomposed into bins. Anchor points are generated in each bin to represent global shape features. A convolution can then be performed to transform the points and anchor features into final rotation-invariant features. We conduct several experiments on point cloud classification, part segmentation, shape retrieval, and normals estimation to evaluate our convolution, which achieves state-of-the-art accuracy under challenging rotations.

关键词： Three-dimensional displays deep learning Task analysis Training Shape Neural networks Feature extraction

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QoE-driven and Tile-Based Adaptive Streaming for Point Clouds

QoE-Driven and Tile-Based Adaptive Streaming for Point Cloud...

引用

IEEE international Conference on Acoustics, Speech and Signal processing

作者： Lisha Wang Chenglin Li Wenrui dai Junni Zou Hongkai Xiong Shanghai Jiao Tong University

Application of point clouds is in critical demand, which, however, are composed of large amounts of data and difficult to stream in bandwidth-constrained networks. To address this, we propose a QoE-driven and tile-based adaptive streaming approach for point clouds, to reduce transmission redundancy and maximize user's QoE. Specifically, by utilizing the perspective projection, we model the QoE of a 3d tile as a function of the bitrate of its representation, user's view frustum and spatial position, occlusion between tiles, and the resolution of rendering device. We then formulate the QoE-optimized rate adaptation problem as a multiple-choice knapsack problem that allocates bitrates for different tiles under a given transmission capacity. We equivalently convert it as a submodular function maximization problem subject to knapsack constraints, and develop a practical greedy algorithm with a theoretical performance guarantee. Experimental results further demonstrate superiority of the proposed rate adaptation algorithm over existing schemes, in terms of both user's visual quality and transmission efficiency.

关键词： visualization Solid modeling Three-dimensional displays Bit rate Signal processing algorithms Signal processing Rendering (computer graphics)

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R4dyn: Exploring Radar for Self-Supervised Monocular depth Estimation of dynamic Scenes

R4Dyn: Exploring Radar for Self-Supervised Monocular Depth E...

引用

international Conference on 3d Imaging, Modeling, processing, visualization and transmission (3dIMPVT)

作者： Stefano Gasperini Patrick Koch Vinzenz dallabetta Nassir Navab Benjamin Busam Federico Tombari Technical University of Munich BMW Group Johns Hopkins University Google

ISBN: (纸本)9781665426893

While self-supervised monocular depth estimation in driving scenarios has achieved comparable performance to supervised approaches, violations of the static world assumption can still lead to erroneous depth predictions of traffic participants, posing a potential safety issue. In this paper, we present R4dyn, a novel set of techniques to use cost-efficient radar data on top of a self-supervised depth estimation framework. In particular, we show how radar can be used during training as weak supervision signal, as well as an extra input to enhance the estimation robustness at inference time. Since automotive radars are readily available, this allows to collect training data from a variety of existing vehicles. Moreover, by filtering and expanding the signal to make it compatible with learning-based approaches, we address radar inherent issues, such as noise and sparsity. With R4dyn we are able to overcome a major limitation of self-supervised depth estimation, i.e. the prediction of traffic participants. We substantially improve the estimation on dynamic objects, such as cars by 37% on the challenging nuScenes dataset, hence demonstrating that radar is a valuable additional sensor for monocular depth estimation in autonomous vehicles.

关键词： Training Three-dimensional displays Laser radar Filtering Estimation Training data Radar

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