27,973 research outputs found
From 3D Point Clouds to Pose-Normalised Depth Maps
We consider the problem of generating either pairwise-aligned or pose-normalised depth maps from noisy 3D point clouds in a relatively unrestricted poses. Our system is deployed in a 3D face alignment application and consists of the following four stages: (i) data filtering, (ii) nose tip identification and sub-vertex localisation, (iii) computation of the (relative) face orientation, (iv) generation of either a pose aligned or a pose normalised depth map. We generate an implicit radial basis function (RBF) model of the facial surface and this is employed within all four stages of the process. For example, in stage (ii), construction of novel invariant features is based on sampling this RBF over a set of concentric spheres to give a spherically-sampled RBF (SSR) shape histogram. In stage (iii), a second novel descriptor, called an isoradius contour curvature signal, is defined, which allows rotational alignment to be determined using a simple process of 1D correlation. We test our system on both the University of York (UoY) 3D face dataset and the Face Recognition Grand Challenge (FRGC) 3D data. For the more challenging UoY data, our SSR descriptors significantly outperform three variants of spin images, successfully identifying nose vertices at a rate of 99.6%. Nose localisation performance on the higher quality FRGC data, which has only small pose variations, is 99.9%. Our best system successfully normalises the pose of 3D faces at rates of 99.1% (UoY data) and 99.6% (FRGC data)
Keyframe-based monocular SLAM: design, survey, and future directions
Extensive research in the field of monocular SLAM for the past fifteen years
has yielded workable systems that found their way into various applications in
robotics and augmented reality. Although filter-based monocular SLAM systems
were common at some time, the more efficient keyframe-based solutions are
becoming the de facto methodology for building a monocular SLAM system. The
objective of this paper is threefold: first, the paper serves as a guideline
for people seeking to design their own monocular SLAM according to specific
environmental constraints. Second, it presents a survey that covers the various
keyframe-based monocular SLAM systems in the literature, detailing the
components of their implementation, and critically assessing the specific
strategies made in each proposed solution. Third, the paper provides insight
into the direction of future research in this field, to address the major
limitations still facing monocular SLAM; namely, in the issues of illumination
changes, initialization, highly dynamic motion, poorly textured scenes,
repetitive textures, map maintenance, and failure recovery
Towards segmentation and spatial alignment of the human embryonic brain using deep learning for atlas-based registration
We propose an unsupervised deep learning method for atlas based registration
to achieve segmentation and spatial alignment of the embryonic brain in a
single framework. Our approach consists of two sequential networks with a
specifically designed loss function to address the challenges in 3D first
trimester ultrasound. The first part learns the affine transformation and the
second part learns the voxelwise nonrigid deformation between the target image
and the atlas. We trained this network end-to-end and validated it against a
ground truth on synthetic datasets designed to resemble the challenges present
in 3D first trimester ultrasound. The method was tested on a dataset of human
embryonic ultrasound volumes acquired at 9 weeks gestational age, which showed
alignment of the brain in some cases and gave insight in open challenges for
the proposed method. We conclude that our method is a promising approach
towards fully automated spatial alignment and segmentation of embryonic brains
in 3D ultrasound
Live User-guided Intrinsic Video For Static Scenes
We present a novel real-time approach for user-guided intrinsic decomposition of static scenes captured by an RGB-D sensor. In the first step, we acquire a three-dimensional representation of the scene using a dense volumetric reconstruction framework. The obtained reconstruction serves as a proxy to densely fuse reflectance estimates and to store user-provided constraints in three-dimensional space. User constraints, in the form of constant shading and reflectance strokes, can be placed directly on the real-world geometry using an intuitive touch-based interaction metaphor, or using interactive mouse strokes. Fusing the decomposition results and constraints in three-dimensional space allows for robust propagation of this information to novel views by re-projection.We leverage this information to improve on the decomposition quality of existing intrinsic video decomposition techniques by further constraining the ill-posed decomposition problem. In addition to improved decomposition quality, we show a variety of live augmented reality applications such as recoloring of objects, relighting of scenes and editing of material appearance
Intermediate-Mass-Elements in Young Supernova Remnants Reveal Neutron Star Kicks by Asymmetric Explosions
The birth properties of neutron stars yield important information on the
still debated physical processes that trigger the explosion and on intrinsic
neutron-star physics. These properties include the high space velocities of
young neutron stars with average values of several 100 km/s, whose underlying
"kick" mechanism is not finally clarified. There are two competing
possibilities that could accelerate NSs during their birth: anisotropic
ejection of either stellar debris or neutrinos. We here present new evidence
from X-ray measurements that chemical elements between silicon and calcium in
six young gaseous supernova remnants are preferentially expelled opposite to
the direction of neutron star motion. There is no correlation between the kick
velocities and magnetic field strengths of these neutron stars. Our results
support a hydrodynamic origin of neutron-star kicks connected to asymmetric
explosive mass ejection, and they conflict with neutron-star acceleration
scenarios that invoke anisotropic neutrino emission caused by particle and
nuclear physics in combination with very strong neutron-star magnetic fields.Comment: 24 pages, 12 figures, accepted for publication in The Astrophysical
Journa
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