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

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

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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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dual-beam structured-light scanning for 3-d object modeling

Dual-beam structured-light scanning for 3-D object modeling

引用

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

作者： J. Park G.N. deSouza A.C. Kak Robot Vision Laboratory Purdue University West Lafayette IN USA

ISBN: (纸本)0769509843

In this paper we present our dual-Beam Structured-Light Scanner (dSLS), a scanning system that generates range maps much richer than those obtained from a conventional structured-light scanning system. Range maps produced by dSLS require fewer registrations for 3-d modeling. We show that the dSLS system more easily satisfies what are often difficult-to-satisfy conditions for determining the 3-d coordinates of an arbitrary object point. Two specific advantages of dSLS over conventional structured-light scanning are: (1) A single scan by the dSLS system is capable of generating range data on more surfaces than possible with the conventional approach using the same number of camera images. And (2) since the data collected by dSLS is more free of self-occlusions, the object needs be examined from a smaller number of viewpoints.

关键词： dSL Three dimensional displays Robot kinematics Robot vision systems Laboratories Buildings Cameras Belts Iterative methods Iterative closest point algorithm

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Extract and display moving object in all direction by using stereo omnidirectional system (SOS)

Extract and display moving object in all direction by using ...

引用

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

作者： d. Shimada H. Tanahashi K. Kato K. Yamamoto Department of Information Science Gifu University Gifu Japan HOIP Softopia Japan and JST Gifu Japan

ISBN: (纸本)0769509843

In the near future, a robot for use not only in industrial purpose but also a typical families may be introduced. In order to support human behavior it is necessary for robot vision to acquire information in large spaces. To obtain this information, we acquire three dimensional data in all direction by using SOS (Stereo Omnidirectional System), extract the moving object such as a human and display the extracted object. There are many systems for moving object extraction using color information. However the result is influenced greatly by a lighting condition. In this paper to acquire distance information in all directions during real time by SOS, we propose a method that extracts the moving object in all directions by using a depth map. Finally, we also developed an interface that displays the moving object, which is extracted.

关键词： displays Humans Object detection data mining Service robots Orbital robotics Image resolution Information science Cameras Robot vision systems

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Object recognition by combining viewpoint invariant Fourier descriptor and convex hull

Object recognition by combining viewpoint invariant Fourier ...

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international symposium on Intelligent Multimedia, Video and Speech processing

作者： M.P. Yu K.C. Lo Department of Electronic and Information Engineering Hong Kong Polytechnic University Hung Hom Hong Kong China

ISBN: (纸本)9628576623

It is observed that the shape recognition process that uses global information would fail when dealing with occlusion. In this paper, an algorithm that combines the methods of viewpoint invariant Fourier descriptor and convex hull is presented for recognizing 3d planar objects by their contours. Invariants are calculated from a set of local segments extracted from the convex hull of a shape. Under such approach, an object is represented by sets of invariant points instead of a single point in a 2d parameter space of I/sub 1/ and I/sub 2/. The method is efficient and yields a high recognition rate in recognizing partially occluded objects. Classification can be carried out correctly even when the convex hull of the object has changed as a result of occlusion.

关键词： Object recognition Cameras Image recognition Shape measurement data mining Computer vision Image segmentation Aircraft Speech processing transmission line matrix methods

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The parallel iterative closest point algorithm

The parallel iterative closest point algorithm

引用

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

作者： C. Langis M. Greenspan G. Godin Visual Information Technology Group Institute for Information Technology National Research Council Canada Ottawa ONT Canada

ISBN: (纸本)0769509843

This paper describes a parallel implementation developed to improve the time performance of the Iterative Closest Point Algorithm. Within each iteration, the correspondence calculations are distributed among the processor resources. At the end of each iteration, the results of the correspondence determination are communicated back to a central processor and the current transformation is calculated A number of additional techniques were developed that served to improve upon this basic scheme. Calculating the partial sums within each distributed resource made it unnecessary to transmit the correspondence values back to the central processor, which reduced the communication overhead, and improved time performance. Randomly distributing the points among the processor resources resulted in a better load balancing, which further improved time performance. We also found that thinning the image by randomly removing a certain percentage of the points did not improve the performance, when viewed as the progression of mse with time. The method was implemented and tested on a 22 node Beowulf class cluster. For a large image, linear performance improvements were obtained for up to 16 processors, while they held for up to 8 processors with a smaller image.

关键词： Iterative closest point algorithm Information technology data processing Councils Load management Testing Registers Inspection Mean square error methods data acquisition

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Elevation beamforming performance of a 1.75 d array

Elevation beamforming performance of a 1.75 D array

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IEEE symposium (IUS) Ultrasonics

作者： Puyun Guo Shikui Yan Quing Zhu Electrical and Computer Engineering Department University of Connecticut Storrs CT USA

ISBN: (纸本)0780371771

1.75 d arrays allow limited beam steering in elevation, which is valuable for three-dimensional (3-d) imaging within a certain field of view. 3-d imaging has important advantage in detecting and visualizing small lesions from multiple viewing angles. Recently, Tetrad Inc has manufactured 1.75 d arrays using the state-of-the-art technologies. The array we have consists of 10 rows in elevation and 128 elements in azimuth, 1280 elements in total. The central frequency of the array is 5 MHz and the bandwidth is 60%. We have constructed 1280 parallel transmission circuitry, 1280 to 40 multiplexing and 40 parallel receiving circuitry. Upon each transmission, 1280-element RF signals were multiplexed to 40 parallel electronic channels, amplified, sampled and stored in the PC. The elevation performance of the array was evaluated through simulations and experiments using a point target. The parameters evaluated were -6 dB, -20 dB beamwidths and grating lobe strength.

关键词： Array signal processing Circuits Beam steering visualization Lesions Manufacturing Azimuth Frequency Bandwidth Brain modeling

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Fast range image segmentation by an edge detection strategy

Fast range image segmentation by an edge detection strategy

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

作者： A.d. Sappa M. devy LAAS CNRS Toulouse France

ISBN: (纸本)0769509843

This paper presents an edge-based segmentation technique that allows to process quickly very large range images. The proposed technique consists of two stages. First, a binary edge map is generated; then, a contour detection strategy is responsible for the extraction of the different boundaries. The first stage generates a binary edge map based on a scan line approximation technique. There is a difference with the previous techniques, as only two orthogonal scan line direction are considered. The planar curves defined by the elements contained in each scan line are approximated by oriented quadratic curves. The representative points from each curve are used to define a binary edge map. The second stage is a new approach to the classical contour extraction problem. It shows a difference with the previous approaches which use the enclosed surface information; with the suggested technique, boundaries are obtained by using only the information contained in the binary edge map. It consists in linking the edge points by applying a graph strategy. Experimental results with large panoramic range images are presented.

关键词： Image segmentation Image edge detection Clustering algorithms Joining processes Cameras data mining Layout Acceleration Image analysis Robustness

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A nearest neighbor method for efficient ICP

A nearest neighbor method for efficient ICP

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

作者： M. Greenspan G. Godin Visual Information Technology Group National Research Council Canada Institute for Information Technology Ottawa ONT Canada

ISBN: (纸本)0769509843

A novel solution is presented to the Nearest Neighbor Problem that is specifically tailored for determining correspondences within the Iterative Closest Point Algorithm. The reference point set P is preprocessed by calculating for each point p/spl ***//sub i//spl isin/P that neighborhood of points which lie within a certain distance /spl epsiv/ of p/spl ***//sub i/. The points within each /spl epsiv/-neighborhood are sorted by increasing distance to their respective p/spl ***//sub i/. At runtime, the correspondences are tracked across iterations, and the previous correspondence is used as an estimate of the current correspondence. If the estimate satifies a constraint, called the Spherical Constraint, then the nearest neighbor falls within the /spl epsiv/-neighborhood of the estimate. A novel theorem, the Ordering Theorem, is presented which allows the Triangle Inequality to efficiently prune points from the sorted /spl epsiv/-neighborhood from further consideration. The method has been implemented and is demonstrated to be more efficient than both the k-d tree and Elias methods. After /spl sim/40 iterations, fewer than 2 distance calculations were required on average per correspondence, which is close to the theoretical minimum of 1. Furthermore, after 20 iterations the time expense per iteration was demonstrated to be negligibly more than simply looping through the points.

关键词： Nearest neighbor searches Iterative closest point algorithm Runtime Information technology Councils data processing Aggregates

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155 Mbit/s data transmission at 60 GHz using a 1/spl times/4 patch array antenna with variable optical delay lines

155 Mbit/s data transmission at 60 GHz using a 1/spl times/4...

引用

Microwave, MTT-S international symposium

作者： G. Grosskopf R. Eggemann d. Rohde M.S. Choi Heinrich-Hertz-Institut für Nachrichtentechnik Berlin GmbH Berlin Germany

155 Mbit/s data transmission at 60 GHz was carried out successfully with bit error rates below 10/sup -9/. The experimental transmission system included a 1/spl times/4 patch array antenna. It was fed by optically generated RF-signals and its beam was steered by tunable optical delay lines. Bit error rates below 10/sup -3/ could be maintained for azimutal angles over a range of 120 degrees. The antenna is part of an experimental radio-over-fiber system for proof-of-concept of optical beamforming to be applied in broadband mobile communication systems.

关键词： data communication Bit error rate Optical beams Broadband antennas Antenna arrays Transmitting antennas delay lines Mobile antennas Antenna accessories Array signal processing

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Managing scheme for 3-dimensional geo-features using XML

Managing scheme for 3-dimensional geo-features using XML

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2000 international Geoscience and Remote Sensing symposium (IGARSS 2000)

作者： Kim, Kyong-Ho Choe, Seung-Keol Lee, Jong-Hun Yang, Young-Kyu ETRI-CSTL Taejon Korea Republic of

Geo-features play a key role in object-oriented or feature-based geo-processing system. So the strategy for how-to-manage and how-to-model the geo-features builds the main architecture of the entire system and also supports the efficiency and functionality of the system. Unlike the conventional 2d geo-processing system, geo-features in 3d GIS have lots to be considered to model regarding the efficient manipulation, analysis and visualization. We built a set of 3d geo-features, and each geo-feature contains a set of aspatial data and 3d geo-primitives. The 3d geo-primitives contain the fundamental modeling data such as the height of building and the burial depth of gas pipeline. We separated the additional modeling data on the geometry and appearance of the model from the fundamental modeling data to make the table in database more concise and to allow the users more freedom to represent the geo-object. To get the users to build and exchange their own 3d GIS data, we devised a file format named VGFF 2.0 (Virtual GIS File Format). It is to describe the three dimensional geo-information in XML (eXtensible Markup Language). We also developed the authoring tools for users to create their own 3d geo-features and geo-objects and to edit and save them in VGFF 2.0 format.

关键词： Remote sensing

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