检索结果-内蒙古大学图书馆

Motion Planning System for Bin Picking Using 3-D Point Cloud

Intelligent Control and Automation 2016年第3期7卷 73-83页

作者： Masatoshi Hikizu Shu Mikami Hiroaki Seki School of Mechanical Engineering Kanazawa University Kanazawa Ishikawa Japan

In this paper, we propose a motion planning system for bin picking using 3-D point cloud. The situation that the objects are put miscellaneously like the inside in a house is assumed. In the home, the equipment which makes an object stand in line doesn’t exist. Therefore the motion planning system which considered a collision problem becomes important. In this paper, Information on the objects is measured by a laser range finder (LRF). The information is used as 3-D point cloud, and the objects are recognized by model-base. We propose search method of a grasping point for two-fingered robotic hand, and propose search method of a path to approach the grasping point without colliding with other objects.

关键词： 3-D Point Cloud Bin Picking icp algorithm Motion Planning

来源：评论

学校读者我要写书评

暂无评论

Virtual facial reconstruction based on accurate registration and fusion of 3D facial and MSCT scans

引用

JOURNAL OF OROFACIAL ORTHOPEDICS-FORTSCHRITTE DER KIEFERORTHOPADIE 2016年第2期77卷 104-111页

作者： Zhou, Zhongwei Li, Peng Ren, Jiayin Guo, Jixiang Huang, Yongqing Tian, Weidong Tang, Wei Sichuan Univ Dept Oral & Maxillofacial Surg West China Coll Stomatol 143rd SectRenmin South Rd Chengdu 610041 Sichuan Peoples R China Ningxia Med Univ Dept Oral & Maxillofacial Surg Gen Hosp 804Sheng Li South Rd Ningxia 750004 Peoples R China Sichuan Univ Coll Comp Sci 24South Sect 1Yihuan Rd Chengdu 610065 Sichuan Peoples R China Sichuan Univ State Key Lab Oral Dis 143rd SectRenmin South Rd Chengdu 610041 Sichuan Peoples R China

Objectives Accurate registration and feasible fusion of a three-dimensional (3D) photorealistic surface images (captured using the FaceSCAN3D(A (R)) Scientific Photo Lab) from multislice spiral computed tomography (MSCT) images is important to achieve optimal craniomaxillofacial surgery outcomes;thus, the aim of this work was to optimize this process. Methods MSCT and 3D facial scans were acquired from 37 randomly selected patients. Using the Invesalius software package, skin and bone tissue models were reconstructed. The 3D photorealistic surface images were then constructed. Four image registration processes were performed using Geomagic Studio software: manual Procrustes and semi-automatic registration (global modified icp) using both 7 and 15 anthropometric landmarks. The statistical differences were assessed using one-way ANOVA and LSD tests. P values < 0.05 were considered significant. Results Average distances between these two surfaces measured 0.99 (SD 0.13 mm), 0.77 (SD 0.11 mm), 0.99 (SD 0.15 mm), and 0.77 mm (SD 0.10 mm) via the four image registration methods. Statistical differences were observed between the manual and semi-automatic registration groups (according to 7 and 15 anthropometric landmarks, respectively). Image registration errors for the entire virtual face were < 0.8 mm in the semi-automatic registration groups. Conclusion Employing the Procrustes registration system using seven anthropometric landmarks together with global registration allows accurate registration and feasible fusion of 3D facial scans with reconstructed 3D MSCT image data.

关键词： Image registration Craniomaxillofacial surgery Procrustes registration icp algorithm Virtual face

来源：评论

学校读者我要写书评

暂无评论

A Deep Study to Reuse of Processing Instructions in Automatic Programming Techniques

A Deep Study to Reuse of Processing Instructions in Automati...

引用

IEEE International Conference on Mechatronics and Automation

作者： Xuewei Cao Kui Yuan Qiaoyu Xu Institution of Automation Chinese Academy of Sciences 95 Zhongguancun East Road Beijing China Dermatological Department of Air Force General Hospital 30 Fuchengmen Road Beijing China

ISBN: (纸本)9781509023974

In this paper, based on model simplification, man-machined interactive, RANSAC[1], AABB bounding box[2] and improved icp algorithm[3], we propose a new method, which can determine the position and orientation deviation between the processing object and the same processed one rapidly. By the aid of the calculated rotation matrix, we can reuse the old processing instructions by a simple matrix transformation, which upgrades the efficiency of automatic programming greatly. Experiment and result have demonstrated the validity of the proposed method.

关键词： man-machined interactive RANSAC AABB bounding box icp algorithm processing instructions automatic programming

来源：评论

学校读者我要写书评

暂无评论

Transferring Landmarks to Individual Foot Using Deformable Template Models

Transferring Landmarks to Individual Foot Using Deformable T...

引用

The 9th International Conference for Young Computer Scientists(第九届国际青年计算机大会)

作者： Bin Liu Ning ShangGuan Junyi Lin Kaiyong Jiang College of Mechanical Engineering and Automation Huaqiao University Quanzhou 362021

An efficient and novel method is presented to automatically mark foot shape anatomical landmarks in human body. 3D digital foot shape including anatomical landmarks is taken as deformation template. PCA and icp algorithms are applied to make sample foot shape and template foot shape align and registration in the least-squares sense. Then initial corresponding point set between sample foot shape and template foot shape is found. Sample point set is obtained in the template foot shape by using method that combining uniform sampling and sampling based on distribution of curvature. Points in sample point set corresponding to template foot shape are taken as position constrained condition. Discrete Laplacian mesh deformation is used to make standard foot shape fit sample foot shape. Template foot shape is approached to sample foot shape in error range via iteration. Therefor, the mapping relation between template foot shape points and the corresponding points on sample foot shape is built. So the corresponding points of anatomical landmarks on template foot shape, on the sample foot shape, can be treated as anatomical landmarks on sample foot shape.

关键词： Foot shape modeling anatomical landmarks icp algorithm laplacian mesh deformation.

来源：评论

学校读者我要写书评

暂无评论

An Improved Iterative Closest Points algorithm

An Improved Iterative Closest Points Algorithm

引用

World Congress on Engineering and Technology（CET 2015）

作者： Hao Yang Jialan Jiang Guowei Zhao Jie Zhao School of Astronautics Beijing University of Aeronautics and AstronauticsBeijing China School of Mechanical Engineering University of Science and TechnologyBeijing China

Visual method including binocular stereo vision method and monocular vision method of the relative position and pose measurement for space target has become relatively mature, and many researchers focus on the method based on three-dimension measurement *** alignment, which is the key of three-dimension pattern measurement method, has the problem of low efficiency in large data *** this problem, an improved icp algorithm is proposed in this *** improved icp algorithm is the combination of the original icp algorithm and *** experimental comparison between the improved icp algorithm and the traditional icp algorithm in efficiency has been given in this paper, which shows that the improved icp algorithm can get much better performance.

关键词： The Relative Position and Pose Measurement of Space Target icp algorithm KD-TREE

来源：评论

学校读者我要写书评

暂无评论

The Application of Chaotic BP Neural Network in Underwater Terrain matching navigation

The Application of Chaotic BP Neural Network in Underwater T...

引用

2009中国控制与决策会议

作者： ZHANG Tao,XU Xiao-su Department of Instrament Science & Engineering,Southeast University,Nanjing 210096

As the traditional icp algorithm is liable to get local minimization problem,a chaotic BP neural network is presented in the icp *** the algorithm,a searching area of real position was plotted centering on the indication of refer navigation system,then terrain altitude data was extracted from refer terrain *** terrain data,along with corresponding position coordinates,were defined as several patterns and used to train BP *** network can recognizes certain pattern class with measured water-depth data to determine vehicle's ***,there are drawbacks of local minimization problem and slow rapidity of convergence in BP network,so improved ways were put *** improvement includes replacing common motivating function with chaotic motivating function for and determination of neural network's weights using chaotic *** experimental results reveal that results of terrain matching can be improved,and matching failure caused by local convergence is overcome to a certain extent.

关键词： terrain matching icp algorithm BP neural networks chaotic motivating function

来源：评论

学校读者我要写书评

暂无评论

Research on 3D reconstruction technology based on Kinect

Research on 3D reconstruction technology based on Kinect

引用

作者： Haojie Duan Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology

With the development of machine vision technology, 3 D reconstruction technology has been widely used. Aiming at the shortcomings of 3 D laser scanning imaging technology, this paper proposes a method of acquiring depth image by kinect, denoising the depth image, preprocessing the depth image, acquiring 3 D point cloud, and completing the 3 D reconstruction of the object by icp algorithm.

关键词： 3D reconstruction Kinect 3D point cloud icp algorithm

来源：评论

学校读者我要写书评

暂无评论

Application of Particle Swarm Optimization algorithm in Geomagnetic Matching Navigation

Application of Particle Swarm Optimization Algorithm in Geom...

引用

2018 2nd International Conference on Applied Mathematics, Modeling and Simulation (AMMS 2018)

作者： Shi-xin LI Ru-yi CAI Chao-nan FAN Xiang-zuo HUO College of Electronic Engineering Tianjin University of Technology and Education College of Mechanical and Electrical Engineering Xi'an University of Architecture and Technology

In order to improve the positioning accuracy of the traditional geomagnetic matching algorithm,a new geomagnetic matching algorithm based on particle swarm optimization is *** algorithm plans the search range of the real position centering on the measurement position of the reference navigation *** the corresponding geomagnetic data from the reference geomagnetic map,the particle swarm optimization algorithm is then introduced into the matching region search,and the obtained geomagnetic profile values are taken as particles in the particle *** this basis,the normalized product correlation function is used as the particle fitness function,comparing the similarity between the reference sub graph and the real-time graph profile by the maximum fitness measure,Finally,through simulation analysis,the matching precision and matching time of matching algorithm based on icp and PSO are *** simulation results show that the matching effect based on PSO algorithm is better than the traditional icp *** the matching time is slightly longer than the icp algorithm,it meets the real-time *** correlation matching algorithm is an extremely important type of algorithm in geomagnetic aided navigation *** current research focuses on the improvement of the traditional Terrain Contour Matching(TERCOM) algorithm metric function and the introduction of new metric functions and various icp geomagnetic matching algorithms [1-4].The geomagnetic correlation matching algorithm of the aircraft not only requires high precision and high reliability,but also the execution efficiency of the algorithm is one of the important contents of the *** on the research of traditional geomagnetic correlation matching algorithm,this paper introduces particle swarm optimization algorithm into geomagnetic correlation matching *** the aspects of similarity measure function,geomagnetic matching feature quanti

关键词： Geomagnetic matching Geomagnetic profile Particle swarm optimization icp algorithm

来源：评论

学校读者我要写书评

暂无评论

Accurate bone registration in knee MR images

引用

JOURNAL OF THE CHINESE INSTITUTE OF ENGINEERS 2012年第1期35卷 101-113页

作者： Cheng, Yuanzhi Jin, Quan Tanaka, Hisashi Guo, Changyong Tamura, Shinichi Harbin Inst Technol Sch Mechatron Engn Harbin 150006 Heilongjiang Peoples R China Osaka Univ Grad Sch Med Suita Osaka Japan

Changes of the cartilage morphology over time can tell the progression of osteoarthritis (OA) and show particular promise for evaluating the efficacy of disease-modifying OA drugs. Hence, cartilage matching is required prior to cartilage morphology comparison. An accurate cartilage matching allows one to ensure longitudinal focal and local changes of cartilage morphology due to OA. The method described in this article meets this need. The proposed method consists of three steps. First, the knee femur surfaces are aligned, using the principal axes transformation to correct for different knee joint positions and orientations in the magnetic resonance (MR) scanner. Second, we present a global registration algorithm based on Lipschitz optimization theory for accurately identifying the corresponding points of the knee femur surface. Third, the rigid transformation of the knee femur surface registration is applied to the cartilage surface. Our registration algorithm is efficient and robust, and its performance is evaluated on MR images of pig knees.

关键词： matching knee femur icp algorithm

来源：评论

学校读者我要写书评

暂无评论

A 3D Point Cloud Registration algorithm based on Feature Points

A 3D Point Cloud Registration Algorithm based on Feature Poi...

引用

International Conference on Information Sciences,Machinery,Materials and Energy（ICISMME 2015）

作者： Yi Ren Fucai Zhou School of Information Science & Engineering Northeastern University Shenyang Jianzhu University

The standard icp algorithm is a mainstream of 3D point cloud registration technique,which can establish effectively correct corresponding point *** improved icp algorithm based on inflection point is *** algorithm doesn't require the measured object having obvious *** feature point,inflection point is easy to be *** not all of the data points are involved with,the amount of corresponding points is *** experiment results show that our algorithm is more effective than other similar *** for large-scale data points,the algorithm has more advantages.

关键词： 3D point cloud registration feature points icp algorithm

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：