A novel algorithm is introduced to estimate the pose of objects from sparse range data. Pose determination is tackled by employing the ICP algorithm to find corresponding local minima between a preprocessed model and ...
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A novel algorithm is introduced to estimate the pose of objects from sparse range data. Pose determination is tackled by employing the ICP algorithm to find corresponding local minima between a preprocessed model and the runtime data. Unlike other existing algorithms that try to avoid local minima, here local minima are used as effective feature vectors for generating multiple hypotheses of the pose. These hypotheses are then examined and verified using the bounded Hough transform, which is more robust than using the registration error directly. Only a small number of iterations (e.g., 5) is needed for each ICP at both preprocessing and runtime, which makes the technique efficient. The algorithm has been implemented and tested on a variety of objects, including freeform models, using both simulated and real data from Lidar and stereovision sensors. The experimental results show the technique to be both effective and efficient, executing at multiple frames per second on standard hardware. In addition, it functions well with very sparse data, possibly comprising only hundreds of points per frame, and it is also robust to measurement error and outliers.
The tree structure has received much interest as a versatile architecture for a large class of parallel processing applications. Spanning trees in particular are essential tools for some important communication proble...
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ISBN:
(纸本)9781424403257
The tree structure has received much interest as a versatile architecture for a large class of parallel processing applications. Spanning trees in particular are essential tools for some important communication problems such as broadcasting and personalized communications. When it refers to communications, it always involves two costs. Specifically, sending a Packet of b bytes along a link takes T-s + bT(c) time, where Ts is the time to initialize (or start-up) the communication link and T-c is the latency to transmit a byte. To optimize these costs, a spanning tree is constructed to solve one-to-all broadcasting problem in an (n, k-)-arrangement graph. Since the spanning tree has an optimal height, our algorithm achieves optimal start-up cost O(d(An,k))Ts andtransmission cost [Graphics] under the all-port model, and optimal transmission cost O(mTc) under the one-port model.
Johnson noise thermometry (JNT) is a primary method of measuring temperature which can be applied over wide ranges. The National Institute of Standards and Technology (NIST) is currently using JNT to determine the dev...
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Johnson noise thermometry (JNT) is a primary method of measuring temperature which can be applied over wide ranges. The National Institute of Standards and Technology (NIST) is currently using JNT to determine the deviations of the international Temperature Scale of 1990 (ITS-90) from the thermodynamic temperature in the range of 505-933 K, overlapping the ranges of both acoustic gas-based and radiation-based thermometry. Advances in digital electronics have now made viable the computationally intensive anddata-volume-intensive processing required for JNT using noise-voltage correlation in the frequency domain. The spectral noise power, and consequently the thermodynamic temperature T, of a high-temperature JNT probe is determined relative to a known reference spectrum using a switched-input digital noise-voltage correlator and simple resistance-scaling relationships. Comparison of the JNT results with standard platinum resistance thermometers calibrated on the ITS-90 gives the deviation of the thermodynamic temperature from the temperature on the ITS-90, T - T-90. Statistical uncertainties under 50 mu K center dot K-1 are achievable in less than 1 day of integration by fitting the effects of transmission-line time constants over bandwidths of 450 kHz. The methods and results in a 3 K interval near the zinc freezing point (T (90-ZnFP) equivalent to 692.677 K) are described. Preliminary results show agreement between the JNT-derived temperatures and the ITS-90.
This paper propose an adaptive communications quality control for Wireless LANs. This method is composed of (a) adaptive transmission frequency setting method, (b) adaptive CFP (Contention Free Period) setting method,...
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This paper propose an adaptive communications quality control for Wireless LANs. This method is composed of (a) adaptive transmission frequency setting method, (b) adaptive CFP (Contention Free Period) setting method, (c) queue control method, and (d) prime slot time method. The special features of the proposed method are (1) an efficient data communication without sacrificing guarantee of the maximum delay time and the bandwidth, (2) the reduction of the buffer size, and (3) the throughput enhancement. Numerical examples show the effectiveness of the proposed method.
Johnson noise thermometry (JNT) is a primary method of measuring temperature which can be applied over wide ranges. The National Institute of Standards and Technology (NIST) is currently using JNT to determine the dev...
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Johnson noise thermometry (JNT) is a primary method of measuring temperature which can be applied over wide ranges. The National Institute of Standards and Technology (NIST) is currently using JNT to determine the deviations of the international Temperature Scale of 1990 (ITS-90) from the thermodynamic temperature in the range of 505-933 K, overlapping the ranges of both acoustic gas-based and radiation-based thermometry. Advances in digital electronics have now made viable the computationally intensive anddata-volume-intensive processing required for JNT using noise-voltage correlation in the frequency domain. The spectral noise power, and consequently the thermodynamic temperature T, of a high-temperature JNT probe is determined relative to a known reference spectrum using a switched-input digital noise-voltage correlator and simple resistance-scaling relationships. Comparison of the JNT results with standard platinum resistance thermometers calibrated on the ITS-90 gives the deviation of the thermodynamic temperature from the temperature on the ITS-90, T - T-90. Statistical uncertainties under 50 mu K center dot K-1 are achievable in less than 1 day of integration by fitting the effects of transmission-line time constants over bandwidths of 450 kHz. The methods and results in a 3 K interval near the zinc freezing point (T (90-ZnFP) equivalent to 692.677 K) are described. Preliminary results show agreement between the JNT-derived temperatures and the ITS-90.
The 3d reconstruction from 2d broadcast video is a challenging problem with many potential applications, such as 3dTV, free-viewpoint video or augmented reality. In this paper, a modular system capable of efficiently ...
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This paper addresses the problem of face recognition in the presence of facial deformations caused by expressions. An isometric mapping between surfaces is assumed, which allows preservation of geodesic distance betwe...
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We propose artificial potential fields as a support theory for a feature linking algorithm. This algorithm operates on 3d triangle meshes derived from multiple range scans of an object, and the features of interest ar...
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The number of 3d models that are available from the Web is increasingly growing, motivating the research on content-based retrieval from shape information. In this paper we propose to extend the approach to colored3d...
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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 vi...
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ISBN:
(纸本)9780780397323
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 andvisualization. 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, anddevelop suitable simplification techniques for each class. The simplified images preserve the main features and have significantly smaller size as compared to the originals.
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