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检索条件"主题词=Iterative Closest Point algorithm"

共 1673 条记录，以下是131-140 订阅

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Robust RGB-D Camera Tracking using Optimal Key-frame Selection

Robust RGB-D Camera Tracking using Optimal Key-frame Selecti...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Kyung Min Han Young J. Kim Department of computer science and engineering Ewha womans university Korea

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

We propose a novel RGB-D camera tracking system that robustly reconstructs hand-held RGB-D camera sequences. The robustness of our system is achieved by two independent features of our method: adaptive visual odometry (VO) and integer programming-based key-frame selection. Our VO method adaptively interpolates the camera motion results of the direct VO (DVO) and the iterative closed point (ICP) to yield more optimal results than existing methods such as Elastic-Fusion. Moreover, our key-frame selection method locates globally optimum key-frames using a comprehensive objective function in a deterministic manner rather than heuristic or experience-based rules that prior methods mostly rely on. As a result, our method can complete reconstruction even if the camera fails to be tracked due to discontinuous camera motions, such as kidnap events, when conventional systems need to backtrack the scene. We validated our tracking system on 25 TUM benchmark sequences against state-of-the-art works, such as ORBSLAM2, Elastic-Fusion, and DVO SLAM, and experimentally showed that our method has smaller and more robust camera trajectory errors than these systems.

关键词： Cameras Robustness Optimization Tracking iterative closest point algorithm Robot vision systems Three-dimensional displays

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Pose Refinement of Occluded 3D Objects Based on Visible Surface Extraction

Pose Refinement of Occluded 3D Objects Based on Visible Surf...

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International Conference on Image, Vision and Computing (ICIVC)

作者： Xunwei Tong Ruifeng Li Lianzheng Ge Lijun Zhao Ke Wang State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9781728166612

ISBN: (纸本)9781728112350

In this paper, we propose a pose refinement method based on the visible surface extraction of 3D object. Given a rough estimation of object pose, the algorithm of iterative closet point (ICP) is often used to refine the pose by aligning the object model with test scene. To avoid the interference of invisible points on the ICP process, we only use the visible surface for pose refinement. It is especially necessary when occlusion occurs in the scene. Combining the technologies of image rendering and depth consistency verification, the visible surface can be effectively extracted. During the process of pose refinement, hypothesis verification methods are also used to eliminate unreasonable hypothetical poses as early as possible. The proposed method is evaluated on the public Tejani dataset. The experimental results show that our method improved the average F1-score by 0.2062, which proves that our method can obtain pose estimation results of high accuracy, even in the occluded scene.

关键词： Three-dimensional displays iterative closest point algorithm Surface treatment Pose estimation Robustness Cameras Rendering (computer graphics)

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Gallium Antimonide Thermophotovoltaic: Simulation and Electrical Characterization Under Different Spectral Filtration Wavelengths

Gallium Antimonide Thermophotovoltaic: Simulation and Electr...

引用

International Conference on Photonics (ICP)

作者： Wan Emlin Suliza Wan Abd Rashid Md Zaini Jamaludin Nazaruddin Abdul Rahman Mansur Mohammed Ali Gamel Hui Jing Lee Pin Jern Ker Institute of Power Engineering (IPE) Universiti Tenaga Nasional UNITEN Kajang Selangor Malaysia

ISBN: (数字)9781728105185

ISBN: (纸本)9781728105192

Gallium Antimonide (GaSb) Thermophotovoltaic (TPV) cell is a well-known device for waste-heat harvesting technology. To date, the conversion efficiency of the GaSb TPV cell remains low due to the presence of electrical and spectral losses. In this study, a GaSb TPV cell model is developed using the Silvaco TCAD simulation software. Validation on the simulation model was performed under atmospheric (AM)1.5 standard test condition (STC) and TPV illumination conditions. Through the validation processes, a set of GaSb physical parameters that are reliable to be used for GaSb TPV cell simulation was established. Under AM1.5 testing condition, the electrical characteristic and performance of GaSb TPV of the reference cell were obtained from an experimental characterization on commercialized devices. A deviation in fill factor and cell efficiency was found between the cell sample and simulation model under AM1.5 illumination. This is due to the presence of resistance losses in the device. Nevertheless, a percentage error of below 3% was achieved under 1200 ° C TPV spectrum. Besides, it was found that a spectral filter that cuts at 2 μm increases the cell efficiency from 11.51% to 19.10% with a power output of 1.33 W/cm 2 . The finding in this study demonstrates the importance of minimizing the electrical losses and the determination of an optimal filtered spectrum wavelength for developing high-performance GaSb TPV cell.

关键词： Photonics Lighting Resistance Atmospheric modeling Conferences iterative closest point algorithm Software

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3D Reconstruction of Edge Line by ICP-based Matching with Geometric Constraints

3D Reconstruction of Edge Line by ICP-based Matching with Ge...

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Proceedings of the Digital Image Computing: Technqiues and Applications (DICTA)

作者： Kojiro Takeyama Toyota Central Research and Development Labs. Inc. Nagakute Japan

ISBN: (数字)9781728191089

ISBN: (纸本)9781728191096

This paper presents a novel edge-based 3D reconstruction method using a monocular camera. The edge information is known to be illumination-invariant and to include abundant structural information in a relatively small number of pixels. However, since edge line cannot explicitly determine the pixel-to-pixel correspondence as in the feature point approach, it is difficult to perform accurate matching of pixels in a scene with dense edge lines. In this study, edge-based 3D reconstruction using ICP (iterative closest point algorithm) with geometric constraints has been proposed. In our approach, quasi-rigid body assumption for the edge line deformation and smart search for the matching process are introduced for the improvement of matching robustness in scenes with dense edge lines. Experimental results show that the performance of our method for both motion parallax estimation and depth estimation is greatly improved compared with two recent edge-based methods.

关键词： Three-dimensional displays iterative closest point algorithm Image edge detection Estimation Cameras Robustness Strain

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Introducing brain-heart crosstalks information in clinical decision support systems for TBI patients, through ICM+

Introducing brain-heart crosstalks information in clinical d...

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Conference of the European Study Group on Cardiovascular Oscillations

作者： Giovanna Maria Dimitri Erta Beqiri Michal M. Placek Marek Czosnyka Ari Ercole Peter Smielewski Pietro Lio' Computer Laboratory University of Cambridge UK Milan University Italy Faculty of Fundamental Problems of Technology Wroclaw University of Science and Technology Poland Brain Physics Laboratory Division of Neurosurgery University of Cambridge UK

ISBN: (数字)9781728157511

ISBN: (纸本)9781728157528

We present here a novel measure called brain-heart crosstalks. The measure captured events of simultaneous increase of intracranial pressure (ICP) and heart rate (HR), and showed a relationship with mortality. We therefore propose in the present work an extension of the code, to allow for the implementation and insertion of the above measure into ICM+, a software for online bedside management and analysis of traumatic brain injury (TBI) patients.

关键词： Crosstalk iterative closest point algorithm Heart rate Brain injuries Pediatrics Software

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Fusion of Multiple-angles Intraoperative US Images and Pretreatment MR Images for USgHIFU Treatment of Uterine Fibroid: Retrospective Evaluation Based on Clinical Dataset

Fusion of Multiple-angles Intraoperative US Images and Pretr...

引用

Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Cong Yang Qianwen Huang Xiang Ji Jingfeng Bai Biomedical Instrument Institute School of Biomedical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781728119908

ISBN: (纸本)9781728119915

High-intensity focused ultrasound (HIFU) has been widely used for treatment of uterine fibroids. However, due to the limited resolution of ultrasound image in deep organs, the guidance of ultrasound-guided HIFU (USgHIFU) treatment greatly depends on clinicians' experience in US image. To address this issue, fusion of intraoperative US images and pretreatment MR images has been proposed. Contour segmentation and multiple-angles 2D US images combination are performed to obtain 3D points along the contour of uterus. iterative closest point (ICP) algorithm based on prior knowledge is used to register these point sets. MR and US images of six treated patients are used for evaluation. The mean distance error (MDE) of our algorithm is 1.71±0.59 mm, and the average running time is 0.18 s. The results have verified the feasibility of fusion of MR images and US images for USgHIFU guidance. In addition, this method may be also potential for post-ablation evaluation with follow-up MR images.

关键词： Magnetic resonance imaging Three-dimensional displays iterative closest point algorithm Image segmentation Ultrasonic imaging Two dimensional displays Probes

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Edge-based Visual Odometry with Stereo Cameras using Multiple Oriented Quadtrees

Edge-based Visual Odometry with Stereo Cameras using Multipl...

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2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Changhyeon Kim Junha Kim H. Jin Kim Seoul National University and Automation and Systems Research Institute (ASRI) Seoul South Korea

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

We propose an efficient edge-based stereo visual odometry (VO) using multiple quadtrees created according to image gradient orientations. To characterize edges, we classify them into eight orientation groups according to their image gradient directions. Using the edge groups, we construct eight quadtrees and set overlapping areas belonging to adjacent quadtrees for robust and efficient matching. For further acceleration, previously visited tree nodes are stored and reused at the next iteration to warm-start. We propose an edge culling method to extract prominent edgelets and prune redundant edges. The camera motion is estimated by minimizing point-to-edge distances within a re-weighted iterative closest points (ICP) framework, and simultaneously, 3-D structures are recovered by static and temporal stereo settings. To analyze the effects of the proposed methods, we conduct extensive simulations with various settings. Quantitative results on public datasets confirm that our approach has competitive performance with state-of-the-art stereo methods. In addition, we demonstrate the practical values of our system in author-collected modern building scenes with curved edges only.

关键词： iterative closest point algorithm Image edge detection Motion segmentation Cameras Acceleration Intelligent robots Visual odometry

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Estimating Motion Uncertainty with Bayesian ICP

Estimating Motion Uncertainty with Bayesian ICP

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Fahira Afzal Maken Fabio Ramos Lionel Ott School of Computer Science The University of Sydney Australia

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Accurate uncertainty estimation associated with the pose transformation between two 3D point clouds is critical for autonomous navigation, grasping, and data fusion. iterative closest point (ICP) is widely used to estimate the transformation between point cloud pairs by iteratively performing data association and motion estimation. Despite its success and popularity, ICP is effectively a deterministic algorithm, and attempts to reformulate it in a probabilistic manner generally do not capture all sources of uncertainty, such as data association errors and sensor noise. This leads to overconfident transformation estimates, potentially compromising the robustness of systems relying on them. In this paper we propose a novel method to estimate pose uncertainty in ICP with a Markov Chain Monte Carlo (MCMC) algorithm. Our method combines recent developments in optimization for scalable Bayesian sampling such as stochastic gradient Langevin dynamics (SGLD) to infer a full posterior distribution of the pose transformation between two point clouds. We evaluate our method, called Bayesian ICP, in experiments using 3D Kinect data demonstrating that our method is capable of both quickly and accuractely estimating pose uncertainty, taking into account data association uncertainty as reflected by the shape of the objects.

关键词： iterative closest point algorithm Uncertainty Bayes methods Three-dimensional displays Robot sensing systems Standards Stochastic processes

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Cooperative Congestion Control in NDN

Cooperative Congestion Control in NDN

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IEEE International Conference on Communications (ICC)

作者： Adrien Thibaud Julien Fasson Fabrice Arnal Renaud Sallantin Emmanuel Dubois Emmanuel Chaput TéSA Laboratory Thales Alenia Space Centre National d’Études Spatiales

ISBN: (数字)9781728150895

ISBN: (纸本)9781728150901

Named Data Networking (NDN), an Information-Centric Network (ICN) architecture, is based on caching, multipath and multi-producers retrieving. These properties provide new opportunities for a single user to increase its Quality of Experience (QoE). However, handling multiple flows, each of them having its own multiple paths, is more complex. To tackle this challenge, we highlight three main principles a solution should include. Nodes should cooperate, supervise their output queues and, eventually, wisely manage the multipath capacities of NDN. These three elements are the core of our proposition: Cooperative Congestion Control (CCC). More than a solution, CCC is proposed as a framework where each principle could be implemented in multiple ways. The ultimate objective is to fairly distribute the flows on the network and maximize QoE of users. We choose basic algorithms in order to evaluate the overall framework. We evaluate our solution with simulations and compare their results with a theoretical model.

关键词： Quality of experience Microsoft Windows Throughput Optimization Peer-to-peer computing IP networks iterative closest point algorithm

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A Fast and Accurate Solution for Pose Estimation from 3D Correspondences

A Fast and Accurate Solution for Pose Estimation from 3D Cor...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Lipu Zhou Shengze Wang Michael Kaess Robotics Institute Carnegie Mellon University Pittsburgh PA USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Estimating pose from given 3D correspondences, including point-to-point, point-to-line and point-to-plane correspondences, is a fundamental task in computer vision with many applications. We present a fast and accurate solution for the least-squares problem of this task. Previous works mainly focus on studying the way to find the global minimizer of the least-squares problem. However, existing works that show the ability to achieve the global minimizer are still unsuitable for real-time applications. Furthermore, as one of contributions of this paper, we prove that there exist ambiguous configurations for any number of lines and planes. These configurations have several solutions in theory, which makes the correct solution may come from a local minimizer when the data are with noise. Previous works based on convex optimization which is unable to find local minimizers do not work in the ambiguous configuration. Our algorithm is efficient and able to reveal local minimizers. We employ the Cayley-Gibbs-Rodriguez (CGR) parameterization of the rotation to derive a general rational cost for the three cases of 3D correspondences. The main contribution of this paper is to solve the first-order optimality conditions of the least-squares problem, which are of a complicated rational form. The central idea of our algorithm is to introduce some intermediate unknowns to simplify the problem. Extensive experimental results show that our algorithm is more stable than previous algorithms when the number N of correspondences is small. Besides, when N is large, our algorithm achieves the same accuracy as the state-of-the-art algorithm [1], but our algorithm is about 7 times faster than [1] in real applications.

关键词： Three-dimensional displays Pose estimation Cost function Approximation algorithms Real-time systems iterative closest point algorithm Simultaneous localization and mapping

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