检索结果-内蒙古大学图书馆

18th International Conference on Control, Automation and Systems (ICCAS)

作者： Yamada, Shinji Lu, Huimin Tan, Joo Kooi Kim, Hyoungseop Kimura, Namiko Okawachi, Takako Nozoe, Etsuro Nakamura, Norifumi Kyushu Inst Technol 1-1 Sensui Kitakyushu Fukuoka 8048550 Japan Kagoshima Univ Grad Sch Med & Dent Sci 8-35-1 Sakuragaoka Kagoshima 8898544 Japan

ISBN: (纸本)9788993215151

Cleft lip is a kind of congenital facial morphological abnormality. In the clinical field of cleft lip, it is necessary to analyze symmetric shape. However, there is no method to analyze the cleft lip technique based on symmetrical viewpoints. On the other hand, in our previous method to find a symmetric axis using a 2D image, since the middle line is extracted only from the front view of the face moire image. There was a problem that low accuracy was obtained by slight rotation of the face and it was not possible to consider 3D information. In this paper, we propose a method to extract the median plane of the face by analyzing based on bilateral symmetry by using 3D point cloud on the face of front. By extracting the median plane, we believe that not only surgical assistance of doctor be possible but also become a clue to development of simulation software which is the end goal.

关键词： Cleft lip icp algorithm 3D point cloud Point Cloud Library Facial median plane Symmetry analysis

来源：评论

学校读者我要写书评

暂无评论

An Innovative Localization System of Transformer Substation Automation Robots based on Pattern Recognition and icp algorithm 4

An Innovative Localization System of Transformer Substation ...

引用

4th International Conference on Applied Robotics for the Power Industry (CARPI)

作者： Tian, Xiaolu Hua, Fang Wang, Tao State Grid Corp China Shandong Luneng Intelligence Technol CO LTD Jinan Peoples R China

ISBN: (纸本)9781509032280

This paper proposes a novel, laser-based localization method for the autonomous mobile robot in transformer substations. Iterative closet point (icp) algorithm has been widely used in current laser localization system for locating the mobile robot. However, after initialization, current localization system cannot finish positioning without human assistance. There is a growing interest in finding an effective way to improve the stability and correctness of laser system. We describe a method that combines the pattern recognition with laser localization system. Robot positioning in feature map is to search the relative distance and orientation to landmarks.

关键词： feature extraction icp algorithm mapping

来源：评论

学校读者我要写书评

暂无评论

On the performance of the icp algorithm

On the performance of the ICP algorithm

引用

22nd European Workshop on Computational Geometry

作者： Ezra, Esther Sharir, Micha Efrat, Alon Tel Aviv Univ Sch Comp Sci IL-69978 Tel Aviv Israel NYU Courant Inst Math Sci New York NY 10012 USA Univ Arizona Sch Comp Sci Tucson AZ 85721 USA

We present upper and lower bounds for the number of iterations performed by the Iterative Closest Point (icp) algorithm. This algorithm has been proposed by Besl and McKay as a successful heuristic for matching of point sets in d-space under translation, but so far it seems not to have been rigorously analyzed. We consider two standard measures of resemblance that the algorithm attempts to optimize: The RMS (root mean squared distance) and the (one-sided) Hausdorff distance. We show that in both cases the number of iterations performed by the algorithm is polynomial in the number of input points. In particular, this bound is quadratic in the one-dimensional problem, under the RMS measure, for which we present a lower bound construction of Omega (n log n) iterations, where n is the overall size of the input. Under the Hausdorff measure, this bound is only O(n) for input point sets whose spread is polynomial in n, and this is tight in the worst case. We also present several structural geometric properties of the algorithm under both measures. For the RMS measure, we show that at each iteration of the algorithm the cost function monotonically and strictly decreases along the vector Delta t of the relative translation. As a result, we conclude that the polygonal path pi, obtained by concatenating all the relative translations that are computed during the execution of the algorithm, does not intersect itself. In particular, in the one-dimensional problem all the relative translations of the icp algorithm are in the same (left or right) direction. For the Hausdorff measure, some of these properties continue to hold (such as monotonicity in one dimension), whereas others do not. (c) 2008 Elsevier B.V. All rights reserved.

关键词： pattern matching icp algorithm nearest neighbors Voronoi diagrams Hausdorff distance RMS

来源：评论

学校读者我要写书评

暂无评论

LIDAR Data Registration for Unmanned Ground Vehicle Based on Improved icp algorithm 7

LIDAR Data Registration for Unmanned Ground Vehicle Based on...

引用

7th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC)

作者： Zheng, Zhongyang Li, Yan Natl Univ Def Technol Coll Mechatron & Automat Changsha 410073 Hunan Peoples R China

ISBN: (纸本)9781479986460

As an important sensor, lidar is widely applied to acquire environmental information for unmanned ground system. The accuracy and efficiency of registration determine the ability of autonomous navigation of unmanned ground vehicle. The most important iterative closest point (icp) algorithm needs to be improved and researched in order to solve the registration problem. The existence of error corresponding points has a serious impact on the running results after analyzing the icp algorithm. By fusing the image information into the improved algorithm and increasing the saturation(S) for the RGB constraint evaluation standard reduce the error corresponding points. The reducing of the closest point search improves the accuracy and efficiency of the icp algorithm. From simulations, the better performance of the proposed method is certified in terms of the registration results.

关键词： saturation RGB constraints icp algorithm lidar cloud

来源：评论

学校读者我要写书评

暂无评论

Pre-adjustment of positions of point-clouds for the icp algorithm using IMU and parallel projection

Pre-adjustment of positions of point-clouds for the ICP algo...

引用

International Workshop on Advanced Imaging Technology (IWAIT)

作者： Tsuda, Keigo Tokai, Shogo Univ Fukui 3-9-1 Bunkyo Fukui Japan

ISBN: (数字)9781510643659

ISBN: (纸本)9781510643659

In this paper, we propose a preprocessing for the icp algorithm to avoid convergence failures. Using a depth camera with the IMU, the movement of it can be measured. We use it for the pre-adjustment of two point-clouds as a preprocessing of the icp. Our method consists of the following steps: (1) Measurement of the camera orientation from IMU, (2) Adjustment of the measured point-clouds using the camera orientation, (3) Parallel projection of the points onto one plane and 2D alignment, and (4) Depth alignment and overlapping of the projected models as the initial positions for the icp. We also show several experimental results to indicate the effectiveness of our proposed methods.

关键词： point-cloud depth camera icp algorithm IMU parallel projection

来源：评论

学校读者我要写书评

暂无评论

Surface Estimation icp algorithm for Building a 3D Map by a Scanning LRF

引用

INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 2017年第3期14卷

作者： Hwang, Yoseop Lee, Jangmyung Pusan Natl Univ Dept Elect & Elect Engn Jangjeon 2 Dong Busan 609735 South Korea

A new three-dimensional (3D) map building method based on Laser Range Finder (LRF) has been proposed in this research, performing a surface estimation with the Iterative Closest Point (icp) algorithm. While a mobile robot is navigating in an unknown environment, the entire environment cannot be scanned by LRF since kinematic features of the mobile robot and surface conditions are dynamically changing. To resolve this difficulty in building a 3D map while the mobile robot is navigating, a surface estimation icp algorithm is proposed, which is based on the continuity of the environment around mobile robot. That is, this new algorithm recovers the un-scanned area by estimating feature points in the neighboring two regions based on the continuous environment information. The effectiveness of proposed algorithm has been demonstrated through real experiments of the mobile robot navigation.

关键词： Mobile robots LRF navigation surface estimation icp algorithm 3D map

来源：评论

学校读者我要写书评

暂无评论

Extraction of Median Plane from Facial 3D Point Cloud Based on Symmetry Analysis Using icp algorithm

Extraction of Median Plane from Facial 3D Point Cloud Based ...

引用

International Conference on Control, Automation and Systems

作者： Shinji Yamada Huimin Lu Joo Kooi Tan Hyoungseop Kim Namiko Kimura Takako Okawachi Etsuro Nozoe Norifumi Nakamura Kyushu Institute of Technology 1-1 Sensui Tobata Kitakyushu Japan Kagoshima University Graduate School of Medical and Dental Sciences Kagoshima Japan

ISBN: (纸本)9781538670804;9788993215168

关键词： Cleft lip icp algorithm 3D point cloud Point cloud library Facial median plane Symmetry analysis

来源：评论

学校读者我要写书评

暂无评论

Multi-camera Calibration Based on icp algorithm and VR algorithm

Multi-camera Calibration Based on ICP Algorithm and VR Algor...

引用

2011 4th IEEE International Conference on Computer Science and Information Technology(ICCSIT 2011)

作者： Huawei PAN, ZhenxianYANG and Chunming GAO School of Information Science and Engineering Hunan University, Changsha, 410082, China

Multi-camera calibration is an inevitable step in multi-camera system study. It plays an important role in the entire *** were many cameras around the surrounding in this paper. The intrinsic parameters of each camera were estimated one by one using Zhang's algorithm. For the extrinsic parameters, a new method for the multi-cameras calibration was proposed. VR algorithm was applied based on icp algorithm in this method. The transformation between two adjacent cameras was estimated by moving a model plane at many different locations at first, ultimately each camera was unified to a fixed coordinate system. The subsequent experiment results indicate that this method can satisfy the precision need of 3D reconstruction.

关键词： icp algorithm VR algorithm multi-camera calibration

来源：评论

学校读者我要写书评

暂无评论

Estimating intrafraction tumor motion during fiducial-based liver stereotactic radiotherapy via an iterative closest point (icp) algorithm

引用

RADIATION ONCOLOGY 2019年第1期14卷 185-185页

作者： Li, Wu-zhou Liang, Zhi-wen Cao, Yi Cao, Ting-ting Quan, Hong Yang, Zhi-yong Li, Qin Dai, Zhi-tao Wuhan Univ Sch Phys & Technol Wuhan 430022 Hubei Peoples R China Huazhong Univ Sci & Technol Union Hosp Tongji Med Coll Ctr Canc Wuhan 430022 Hubei Peoples R China Chinese Acad Med Sci Canc Hosp Dept Radiat Oncol Shenzhen Ctr Shenzhen 518100 Guangdong Peoples R China

Background: Tumor motion may compromise the accuracy of liver stereotactic radiotherapy. In order to carry out a precise planning, estimating liver tumor motion during radiotherapy has received a lot of attention. Previous approach may have difficult to deal with image data corrupted by noise. The iterative closest point (icp) algorithm is widely used for estimating the rigid registration of three-dimensional point sets when these data were dense or corrupted. In the light of this, our study estimated the three-dimensional (3D) rigid motion of liver tumors during stereotactic liver radiotherapy using reconstructed 3D coordinates of fiducials based on the icp algorithm. Methods: Four hundred ninety-five pairs of orthogonal kilovoltage (KV) images from the CyberKnife stereo imaging system for 12 patients were used in this study. For each pair of images, the 3D coordinates of fiducial markers inside the liver were calculated via geometric derivations. The 3D coordinates were used to calculate the real-time translational and rotational motion of liver tumors around three axes via an icp algorithm. The residual error was also investigated both with and without rotational correction. Results: The translational shifts of liver tumors in left-right (LR), anterior-posterior (AP),and superior-inferior (SI) directions were 2.92 +/- 1.98 mm, 5.54 +/- 3.12 mm, and 16.22 +/- 5.86 mm, respectively;the rotational angles in left-right (LR), anterior-posterior (AP), and superior-inferior (SI) directions were 3.95 degrees +/- 3.08 degrees, 4.93 degrees +/- 2.90 degrees, and 4.09 degrees +/- 1.99 degrees, respectively. Rotational correction decreased 3D fiducial displacement from 1.19 +/- 0.35 mm to 0.65 +/- 0.24 mm (P<0.001). Conclusions: The maximum translational movement occurred in the SI direction. Rotational correction decreased fiducial displacements and increased tumor tracking accuracy.

关键词： CyberKnife Fiducial tracking SBRT icp algorithm Tumor movement

来源：评论

学校读者我要写书评

暂无评论

An Accelerated icp Registration algorithm for 3D Point Cloud Data 9

An Accelerated ICP Registration Algorithm for 3D Point Cloud...

引用

9th International Symposium on Advanced Optical Manufacturing and Testing Technologies (AOMATT) - Optical Test, Measurement Technology, and Equipment

作者： Meng, Jingan Li, Jinlong Gao, Xiaorong Southwest Jiaotong Univ Sch Phys Sci & Technol Chengdu 610031 Sichuan Peoples R China

ISBN: (数字)9781510623217

ISBN: (纸本)9781510623217

In optical non-contact three-dimensional measurement, the reconstruction of complex objects requires the registration of multiple sets of measurement data. The Standard Iterative Closet Point(icp) algorithm is a classical mathematical method for point cloud data registration in 3D laser scanning data processing. In order to improve the efficiency of registration, based on the icp algorithm, a combination of kd-tree and extrapolation is used. The advantage of the improved registration algorithm becomes more obvious as the amount of point cloud is getting greater. Experimental results show that the running time of icp algorithm is much larger (dozens of times) than that of the improved one, and the proposed algorithm has the advantages of fast speed and high accuracy.

关键词： Point cloud registration icp algorithm kd-tree Extrapolation

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：