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Real-time Reshaping Of Humans

Real-time Reshaping Of Humans

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2nd Joint 3dIM/3dPVT international Conference on 3d Imaging, Modeling, processing, visualization and transmission (3dIMPVT)

作者： Richter, Michal Varanasi, Kiran Hasler, Nils Theobalt, Christian Max Planck Inst Informat D-66123 Saarbrucken Germany

ISBN: (纸本)9780769548739

We present a system for real-time deformation of the shape and appearance of people who are standing in front of a depth+RGB camera, such as the Microsoft Kinect. Our system allows manipulating human body shape parameters such as height, muscularity, weight, waist girth and leg length. The manipulated appearance is displayed in real-time. Thus, instead of posing in front a real mirror and visualizing their appearance, users can pose in front of a 'virtual mirror' and visualize themselves in different body shapes. Our system is made possible by a morphable model of 3d human shape that was learnt from a large database of 3d scans of people in various body shapes and poses. In an initialization step, which lasts a couple of seconds, this model is fit to the 3d shape parameters of the people as observed in the depth data. Then, a succession of pose tracking, body segmentation, shape deformation and image warping steps are performed - in real-time and independently for multiple people. We present a variety of results in the paper and the video, showing the interactive virtual mirror cabinet experience.

关键词： Posing Persons Mirrors large database leg length Human Real time Spouses Shape

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Online algorithms for classification of urban objects in 3d point clouds

Online algorithms for classification of urban objects in 3D ...

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2nd Joint 3dIM/3dPVT international Conference on 3d Imaging, Modeling, processing, visualization and transmission (3dIMPVT)

作者： Stamos, Ioannis Hadjiliadis, Olympia Zhang, Hongzhong Flynn, Thomas CUNY Hunter Coll New York NY 10065 USA CUNY Brooklyn Coll Brooklyn NY 11210 USA Columbia Univ New York NY 10027 USA CUNY Grad Ctr New York NY 10016 USA

ISBN: (纸本)9780769548739

The current technology in stationary laser range-scanning enables high-resolution acquisition of 3d data in a sequential fashion. Traditionally, range scans are processed offline after acquisition, which significantly slows down the procedure. In this work we alleviate this limitation by developing low-complexity, online detection and classification algorithms. These algorithms are innovative in that they classify points into 5 distinct classes (vegetation, vertical, horizontal, car and curb regions) and robustly determine the level of the ground without requiring any prior training or parameter estimation. To construct these algorithms we extract cleverly chosen summary statistics which significantly reduce the dimensionality of the data. This reduction enables us to contrast the different classes by appropriately chosen Markov models and then use online techniques to detect a transition from one Markov model to the other. The identification of the ground level is further achieved by taking advantage of statistical properties of the distribution of the summary statistics. Our algorithms also use contextual cues to verify the existence of specific classes of objects. All our algorithms take advantage of the sequential nature of data acquisition by running in parallel and labeling points on-the-fly. Thus, these algorithms can be potentially integrated with the scanner's hardware and provide the foundation for the construction of high-resolution 3d data scanners that classify data as acquired. We have run experiments using complex urban range scans and have evaluated the classification accuracy against ground-truth.

关键词： algorithms Scanner ground truth Markov models OFF LINE Ground level data Collection Methods

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Watertight As-Built Architectural Floor Plans Generated from Laser Range data

Watertight As-Built Architectural Floor Plans Generated from...

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2nd Joint 3dIM/3dPVT international Conference on 3d Imaging, Modeling, processing, visualization and transmission (3dIMPVT)

作者： Turner, Eric Zakhor, Avideh Univ Calif Berkeley Dept Elect Engn & Comp Sci Berkeley CA 94720 USA

ISBN: (纸本)9780769548739

In this paper we describe an approach to automatically generate a floor plan for the interior environment of a building using laser scan data. This floor plan is meant to accurately indicate the positions of walls within an area of interest in the building. This proposed algorithm separates the floors of a building scan, selects a representative sampling of wall scans for each floor, and triangulates these samples to develop a watertight representation of the walls for each of the scanned areas. Curves and straight line segments are fit to these walls, in order to mitigate any registration errors from the original scans. This method is not dependent on the scanning system and can successfully process noisy scans with non-zero registration error. Most of the processing is performed after a dramatic dimensionality reduction, yielding a scalable approach. We demonstrate the effectiveness of our approach on a three-story point cloud from a commercial building as well as on the lobby and hallways of a hotel.

关键词： Floor plans wall measuring datum error decks dimensionality reduction doorsteps LASER RANGING indoor environment Buildings Lobbying commercial buildings Scanning systems Range of a function Line sections laserscan

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Visual Landmark-based Localization for MAVs Using Incremental Feature Updates

Visual Landmark-based Localization for MAVs Using Incrementa...

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2nd Joint 3dIM/3dPVT international Conference on 3d Imaging, Modeling, processing, visualization and transmission (3dIMPVT)

作者： Wendel, Andreas Maurer, Michael Bischof, Horst Graz Univ Technol Inst Comp Graph & Vis A-8010 Graz Austria

ISBN: (纸本)9780769548739

Micro aerial vehicles (MAVs) are gaining importance as image acquisition tools in urban environments, where areas of interest are often close to buildings and to the ground. While GPS is still the most widely used sensor for outdoor localization, urban applications motivate the change towards visual localization. We present a framework based on metric, geo-referenced visual landmarks, which can be obtained by taking images with a consumer camera at ground level. Visual landmarks serve as prior knowledge to the MAV and allow robust, high-accuracy localization in urban environments. The issue of differing camera views in higher altitudes is reduced by incremental feature updates, a novel technique which boosts the performance by 30% in comparison to previous work, facilitates long-term operation, and results in a localization rate of 83%. We validate the visual pose estimation in-flight by comparison to IMU and GPS data, and evaluate our positioning accuracy with respect to differential GPS.

关键词： 3d pose estimation Image-based localization Micro aerial vehicle Outdoor Visual landmark

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Sensor Fusion for depth Estimation, including TOF and Thermal Sensors

Sensor Fusion for Depth Estimation, including TOF and Therma...

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2nd Joint 3dIM/3dPVT international Conference on 3d Imaging, Modeling, processing, visualization and transmission (3dIMPVT)

作者： van Baar, Jeroen Beardsley, Paul Pollefeys, Marc Gross, Markus Disney Res Zurich Zurich Switzerland ETH Inst Visual Comp Zurich Switzerland

ISBN: (纸本)9780769548739

This paper describes the computation of depth maps for a high-quality reference camera augmented by a set of satellite sensors. The satellite sensors include support cameras, a TOF (time-of-flight) sensor, and a thermal camera, all rigidly attached to the reference camera. There is extensive previous work on computing depth maps with stereo alone, and high-quality results have been achieved. However it has proved difficult to achieve good results for cases such as textureless areas, or similar fore- and background colors. We show that with our proposed sensor fusion we can achieve high quality results. The paper makes two contributions. The first is a method for combining TOF data with multi-camera data that includes reasoning about occlusions, to produce an improved depth estimate near depth discontinuities. The second contribution is to show the benefit of thermal sensing as a segmentation prior. Thermal cameras were formerly high-cost devices but are now available at the same cost as machine vision cameras. This work demonstrates their advantages, particularly for scenes including humans.

关键词： Computer vision Image processing Sensor fusion

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Handling Occlusions for Accurate 3d Urban Cartography: A new Approach based on Characterization and Multiple Passages

Handling Occlusions for Accurate 3D Urban Cartography: A new...

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2nd Joint 3dIM/3dPVT international Conference on 3d Imaging, Modeling, processing, visualization and transmission (3dIMPVT)

作者： Aijazi, Ahmad K. Checchin, Paul Trassoudaine, Laurent Univ Blaise Pascal Clermont Univ Inst Pascal BP 10448 F-63000 Clermont Ferrand France CNRS Inst Pascal UMR 6602 F-63171 Clermont Ferrand France

ISBN: (纸本)9780769548739

In this paper we present a new occlusion handling technique which successfully addresses the intricate problem of extraction of occluded features for urban landscape analysis and cartography(1). This new method is based on temporal integration in which multiple sessions or passages are used to complete occluded features in a 3d cartographic image. 3d image obtained from each passage is first characterized and classified into three main object classes: Permanently static, Temporarily static and Mobile using inference based on basic reasoning and a new point matching technique, intelligently exploiting the different viewing angles of the mounted Lidar sensors. All the Temporarily static and Mobile objects, considered as occluding objects, are removed from the image/scene leaving behind a perforated 3d image of the cartography. This perforated image is then updated by similar subsequent perforated images, obtained on different days and hours of the day, filling in the holes and completing the missing features of the urban cartography. This ensures that the resulting 3d image of the cartography is most accurate containing only the exact and actual permanent features. Separate update and reset functions are specially added to increase robustness of the method. The proposed method is evaluated on a standard data set demonstrating its efficacy and suitability for different applications.

关键词： cartography Three-dimensional Images PASSAGE Mobile urban landscape occluding Occlusion Perforation

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Survey of true 3d and raster level of detail support in GIS software 1st

Survey of true 3D and raster level of detail support in GIS ...

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1st international symposium on True-3d in Cartography : Autostereoscopic and Solid Visualisation of Geodata, 2009

作者： Bektaş, Kenan Çöltekin, Arzu Straumann, Ralph K. GIScience Center Department of Geography University of Zurich Switzerland

ISBN: (纸本)9783642375323

Principles of stereoscopic vision have long been used in geographic data processing and visualization. In recent years, a number of mainstream digital devices and systems with stereoscopic capabilities are marketed to public, making True 3d visualizations more accessible. This trend may potentially impact how spatial data is visualized in everyday life. In lowbandwidth environments, however, level of detail (LOd) management approaches have to be applied for efficient processing of large -True 3dspatial datasets. In order to outline future research needs in True 3d visualizations, this paper presents a survey on current support provided in common Geographic Information Systems (GIS). The survey is designed to document whether the visualization modules of the selected systems a) can display 3d b) can display stereoscopic 3d c) can manage different levels of detail when displaying raster graphics. We document the names of visualization modules and report the types of stereoscopic operations, stereoscopic viewing methods and raster LOd management approaches in surveyed software. The analysis shows that all surveyed GIS support nonstereoscopic or stereoscopic 3d visualizations and a form of raster LOd management. Present raster LOd techniques in the surveyed systems are efficient for level switching when scale changes, however, unlike in other graphics processing software, none of them utilize human visual system inspired approaches. We hope that findings from this study will allow both researchers and practitioners to assess the current state of True 3d and raster LOd management support in widely used GIS software. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Surveys

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Markerless vision-based Augmented Reality for enhanced project visualization

Markerless vision-based Augmented Reality for enhanced proje...

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29th international symposium of Automation and Robotics in Construction, ISARC 2012

作者： Bosché, Frédéric Tingdahl, david Carozza, Ludovico Van Gool, Luc School of the Built Environment Heriot-Watt University Edinburgh United Kingdom ESAT/IBBT/VISICS KU Leuven Belgium ARCES University of Bologna Italy Computer Vision Lab. ETH Zurich Switzerland

Purpose: This work aims to develop a system that enables improved visualization of Architectural Engineering and Construction (AEC) 3d-information for application in design, construction, and management of the built environment. Method: A novel Augmented Reality (AR) system is presented that uses a single standard digital camera and which, contrary to other investigated approaches, does not rely on any markers inserted in the scene, nor on any positioning and inertial technologies. The system is solely image-based and consists of two stages. In a first offline stage, a 3d-map of the scene is automatically constructed from a set of digital images, and the augmenting information (e.g. the 3d-model of the building asset) is subsequently registered with this map. The 3d-map reconstruction employs structure-from-motion techniques with SURF features (the resulting map consisting of a set 3d-referenced SURF-features) followed by a Poisson mesh reconstruction procedure. The next step consists of online operations. The positions of target digital images (e.g. from video stream or head-mounted camera) are automatically calculated, using a robust SURF feature matching procedure that is optimized for three different situations (initialization, tracking, and resetting) implementing octrees for efficient 3d-pruning, and kd-trees for efficient feature matching. Once each input image is positioned within the map, the view is augmented. A notable feature of dense mesh scene reconstruction conducted in the present work is that it enables static occlusions of the scene on the augmenting data to be taken into account. Results & discussion: Several experiments validate the pr posed system and demonstrate its overall performance: a near real-time processing speed, very accurate and stable positioning. The limitations of the current system are also discussed including: the currently limited processing speed and the need for adequately textured scenes.

关键词： Augmented reality

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An efficient development of 3d surface registration by Point Cloud Library (PCL)

An efficient development of 3D surface registration by Point...

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

作者： Hsieh, Cheng-Tiao Ming Chi Univ Technol Dept Ind Design New Taipei Taiwan

ISBN: (纸本)9781467350839;9781467350815

This paper presents how to utilize the open source Point Cloud library (PCL) to develop a series of computational registration processes efficiently and robustly. The registration is the key process of the digital Face-Inspection (dFI) system. In 2009, the dFI system was developed to assist dentists to detect deviations of patients' face shapes before/after an orthodontic treatment. The system combined the technologies of 3d scanning and Reverse Engineering together to achieve the goal of creating a better quality environment. Regarding the visual analysis made by the dFI system, dentists can adjust their treatments to guarantee that their treatments are on the right track. This is definitely very helpful to create a high-quality dental environment. The inputs of the dFI system are a set of point clouds generated by 3d scanning systems. The data type of point cloud present an object by a huge amount of surface points. A completed dFI process requires two scanning independent scanning routines and those scanning routines generated point cloud by their reference coordinate systems. This event causes that generated point clouds can't be applied into the deviation analysis directly. Before the analysis, the dFI system introduced the Iterative Closest Point (ICP) algorithm to align two point clouds as close as possible. This is to force two point clouds in a same coordinate system. However, the ICP algorithm is a local operation process. Therefore, a coarse registration is required for finding an optimal initial alignment. The registration includes a lot of computational algorithms and makes the dFI development very complicated. Fortunately, an open source called Point Cloud Library is available for helping us to develop this registration easily and efficiently. PCL collected hundreds of functions and algorithms for handling point cloud data in various applications. This paper demonstrates how to introduce PCL to build up the dFI system. In addition, we also presented ho

关键词： Point Cloud Library (PCL) visualization ToolKit (VTK) Surface Registration

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Editorial for the Special Issue on 3d data processing, visualization and transmission

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international JOURNAL OF COMPUTER VISION 2012年第1期97卷 1-1页

作者： Bartoli, Adrien Magnor, Marcus Fisher, Bob Theobalt, Christian Univ Auvergne ISIT Clermont Ferrand France TU Braunschweig Braunschweig Germany Univ Edinburgh Edinburgh Midlothian Scotland MPI Informat Saarbrucken Germany

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