Air quality prediction is a complex system engineering. How to fully consider the impact of meteorological, spatial and temporal factors on air quality is the core problem. To address this central conundrum, in an ela...
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A smart home philosophy strongly relies on a technical principle of automatization almost every aspect of today’s way of living. Sole automation of does not only manage system processes in household, or living enviro...
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In the auto insurance industry, accurate risk assessment is essential for determining fair premiums and managing claims effectively. As customer data grows in volume and complexity, machine learning has become crucial...
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Remote renewable energy hubs (RREHs) for synthetic fuel production are engineering systems harvesting renewable energy where it is particularly abundant. They produce transportable synthetic fuels for export to distan...
Ground plane detection and segmentation techniques can benefit and help improve the accuracy and robustness of a wide range of computer vision applications, from 3D object segmentation and autonomous navigation to mix...
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ISBN:
(纸本)9798350382204
Ground plane detection and segmentation techniques can benefit and help improve the accuracy and robustness of a wide range of computer vision applications, from 3D object segmentation and autonomous navigation to mixed and augmented reality. Existing approaches often rely on restrictive assumptions to simplify the problem, such as the ground plane being the largest plane in the scene or the camera location or orientation being ideal. We present a ground plane segmentation technique for real-world 3D indoor scenes where the position and orientation of the sensor are unrestricted and unknown. Our method only requires one 3D point cloud of an indoor scene and assumes that the scene contains at least one surface parallel to the actual ground plane, which is generally true for 3D indoor scenes. We begin by utilizing a voxelized grid downsampling method to enhance the speed of the algorithm. Subsequently, we use K-medoids clustering and an angular-based zone determination technique to identify the ground zone. Next, we divide the ground zone into several clusters using the Euclidean clustering algorithm, and we employ the M-estimator Sample Consensus (MSAC) algorithm to fit the largest plane in each cluster with a specific orientation. Finally, based on the geometric relationship between the fitted planes of the ground zone, we estimate the ground plane, verify it and segment all its associated points using a distance-based approach. We evaluated our method on public and self-generated datasets, in which we positioned a depth sensor at various locations, pitches, and yaws. Our experimental results demonstrate that our proposed method can robustly and efficiently detect and segment the ground plane of complex 3D indoor scenes and supports varied sensor locations and orientations. We evaluate the performance of our proposed method in terms of four conventional metrics: specificity, precision, recall, and F1 score, with average experimental results of 98.28, 95.48, 96.64, a
Cyclic logic locking is a cutting-edge hardware security method developed to defend against SAT Attack. It introduces cycles into the original circuit, which can cause the circuit to either get trapped in an endless l...
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Traditional visual localization algorithms often assume a static world, making them susceptible to inaccuracies and reduced robustness in real environments with dynamic objects. Additionally, these algorithms struggle...
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Tuberculosis (TB) is caused by the bacterium Mycobacteriumtuberculosis, primarily affecting the lungs. Early detection is crucial for improving treatment effectiveness and reducing transmission risk. Artificial intell...
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The conventional smart grid, while enhancing electricity networks, lacks advanced features such as automatic decision-making, security, scalability, and real-time monitoring. The integration of Artificial Intelligence...
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Field-Programmable Gate Arrays (FPGAs) and Field-Programmable Analog Arrays (FPAAs) are reconfigurable circuits that enable flexible digital and analog implementations post-manufacturing. FPGAs are widely used in tele...
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