41 research outputs found
Efficient moving point handling for incremental 3D manifold reconstruction
As incremental Structure from Motion algorithms become effective, a good
sparse point cloud representing the map of the scene becomes available
frame-by-frame. From the 3D Delaunay triangulation of these points,
state-of-the-art algorithms build a manifold rough model of the scene. These
algorithms integrate incrementally new points to the 3D reconstruction only if
their position estimate does not change. Indeed, whenever a point moves in a 3D
Delaunay triangulation, for instance because its estimation gets refined, a set
of tetrahedra have to be removed and replaced with new ones to maintain the
Delaunay property; the management of the manifold reconstruction becomes thus
complex and it entails a potentially big overhead. In this paper we investigate
different approaches and we propose an efficient policy to deal with moving
points in the manifold estimation process. We tested our approach with four
sequences of the KITTI dataset and we show the effectiveness of our proposal in
comparison with state-of-the-art approaches.Comment: Accepted in International Conference on Image Analysis and Processing
(ICIAP 2015
Estimation incrémentale de surface à partir d'un nuage de point épars reconstruit à partir d'images omnidirectionnelles
National audienceCet article introduit une méthode incrémentale de reconstruction de surface (une 2-variété). Elle prend en entrée un nuage de points 3D épars reconstruit à partir d'une séquence d'images, par opposition aux algorithmes habituels denses. De plus, notre méthode est incrémentale : la surface est mise à jour à chaque nouvelle pose de caméra donnée en entrée, et la mise à jour a lieu dans un voisinage restreint de la nouvelle pose. Comparée aux autres méthodes de reconstruction de surface, notre méthode a l'avantage de cumuler toutes ces propriétés (nuage épars en entrée, 2-variété en sortie, calcul incrémental et local). La qualité et le temps d'exécution sont évalués sur une séquence d'images omnidirectionnelles (longue de 2.5 km) prise en environnement urbain, et la méthode est quantitativement évaluée sur une séquence urbaine synthétique
Automatic 3d modeling of environments (a sparse approach from images taken by a catadioptric camera)
La modélisation 3d automatique d'un environnement à partir d'images est un sujet toujours d'actualité en vision par ordinateur. Ce problème se résout en général en trois temps : déplacer une caméra dans la scène pour prendre la séquence d'images, reconstruire la géométrie, et utiliser une méthode de stéréo dense pour obtenir une surface de la scène. La seconde étape met en correspondances des points d'intérêts dans les images puis estime simultanément les poses de la caméra et un nuage épars de points 3d de la scène correspondant aux points d'intérêts. La troisième étape utilise l'information sur l'ensemble des pixels pour reconstruire une surface de la scène, par exemple en estimant un nuage de points dense.Ici nous proposons de traiter le problème en calculant directement une surface à partir du nuage épars de points et de son information de visibilité fournis par l'estimation de la géométrie. Les avantages sont des faibles complexités en temps et en espace, ce qui est utile par exemple pour obtenir des modèles compacts de grands environnements comme une ville. Pour cela, nous présentons une méthode de reconstruction de surface du type sculpture dans une triangulation de Delaunay 3d des points reconstruits. L'information de visibilité est utilisée pour classer les tétraèdres en espace vide ou matière. Puis une surface est extraite de sorte à séparer au mieux ces tétraèdres à l'aide d'une méthode gloutonne et d'une minorité de points de Steiner. On impose sur la surface la contrainte de 2-variété pour permettre des traitements ultérieurs classiques tels que lissage, raffinement par optimisation de photo-consistance ... Cette méthode a ensuite été étendue au cas incrémental : à chaque nouvelle image clef sélectionnée dans une vidéo, de nouveaux points 3d et une nouvelle pose sont estimés, puis la surface est mise à jour. La complexité en temps est étudiée dans les deux cas (incrémental ou non). Dans les expériences, nous utilisons une caméra catadioptrique bas coût et obtenons des modèles 3d texturés pour des environnements complets incluant bâtiments, sol, végétation ... Un inconvénient de nos méthodes est que la reconstruction des éléments fins de la scène n'est pas correcte, par exemple les branches des arbres et les pylônes électriques.The automatic 3d modeling of an environment using images is still an active topic in Computer Vision. Standard methods have three steps : moving a camera in the environment to take an image sequence, reconstructing the geometry of the environment, and applying a dense stereo method to obtain a surface model of the environment. In the second step, interest points are detected and matched in images, then camera poses and a sparse cloud of 3d points corresponding to the interest points are simultaneously estimated. In the third step, all pixels of images are used to reconstruct a surface of the environment, e.g. by estimating a dense cloud of 3d points. Here we propose to generate a surface directly from the sparse point cloud and its visibility information provided by the geometry reconstruction step. The advantages are low time and space complexities ; this is useful e.g. for obtaining compact models of large and complete environments like a city. To do so, a surface reconstruction method by sculpting 3d Delaunay triangulation of the reconstructed points is proposed.The visibility information is used to classify the tetrahedra in free-space and matter. Then a surface is extracted thanks to a greedy method and a minority of Steiner points. The 2-manifold constraint is enforced on the surface to allow standard surface post-processing such as denoising, refinement by photo-consistency optimization ... This method is also extended to the incremental case : each time a new key-frame is selected in the input video, new 3d points and camera pose are estimated, then the reconstructed surface is updated.We study the time complexity in both cases (incremental or not). In experiments, a low-cost catadioptric camera is used to generate textured 3d models for complete environments including buildings, ground, vegetation ... A drawback of our methods is that thin scene components cannot be correctly reconstructed, e.g. tree branches and electric posts.CLERMONT FD-Bib.électronique (631139902) / SudocSudocFranceF
Learning to Construct 3D Building Wireframes from 3D Line Clouds
Line clouds, though under-investigated in the previous work, potentially
encode more compact structural information of buildings than point clouds
extracted from multi-view images. In this work, we propose the first network to
process line clouds for building wireframe abstraction. The network takes a
line cloud as input , i.e., a nonstructural and unordered set of 3D line
segments extracted from multi-view images, and outputs a 3D wireframe of the
underlying building, which consists of a sparse set of 3D junctions connected
by line segments. We observe that a line patch, i.e., a group of neighboring
line segments, encodes sufficient contour information to predict the existence
and even the 3D position of a potential junction, as well as the likelihood of
connectivity between two query junctions. We therefore introduce a two-layer
Line-Patch Transformer to extract junctions and connectivities from sampled
line patches to form a 3D building wireframe model. We also introduce a
synthetic dataset of multi-view images with ground-truth 3D wireframe. We
extensively justify that our reconstructed 3D wireframe models significantly
improve upon multiple baseline building reconstruction methods. The code and
data can be found at https://github.com/Luo1Cheng/LC2WF.Comment: 10 pages, 6 figure
Geometric algorithms for cavity detection on protein surfaces
Macromolecular structures such as proteins heavily empower cellular processes or functions.
These biological functions result from interactions between proteins and peptides,
catalytic substrates, nucleotides or even human-made chemicals. Thus, several
interactions can be distinguished: protein-ligand, protein-protein, protein-DNA,
and so on. Furthermore, those interactions only happen under chemical- and shapecomplementarity
conditions, and usually take place in regions known as binding sites.
Typically, a protein consists of four structural levels. The primary structure of a protein
is made up of its amino acid sequences (or chains). Its secondary structure essentially
comprises -helices and -sheets, which are sub-sequences (or sub-domains) of amino
acids of the primary structure. Its tertiary structure results from the composition of
sub-domains into domains, which represent the geometric shape of the protein. Finally,
the quaternary structure of a protein results from the aggregate of two or more
tertiary structures, usually known as a protein complex.
This thesis fits in the scope of structure-based drug design and protein docking. Specifically,
one addresses the fundamental problem of detecting and identifying protein
cavities, which are often seen as tentative binding sites for ligands in protein-ligand
interactions. In general, cavity prediction algorithms split into three main categories:
energy-based, geometry-based, and evolution-based. Evolutionary methods build upon
evolutionary sequence conservation estimates; that is, these methods allow us to detect
functional sites through the computation of the evolutionary conservation of the
positions of amino acids in proteins. Energy-based methods build upon the computation
of interaction energies between protein and ligand atoms. In turn, geometry-based algorithms
build upon the analysis of the geometric shape of the protein (i.e., its tertiary
structure) to identify cavities. This thesis focuses on geometric methods.
We introduce here three new geometric-based algorithms for protein cavity detection.
The main contribution of this thesis lies in the use of computer graphics techniques
in the analysis and recognition of cavities in proteins, much in the spirit of molecular
graphics and modeling. As seen further ahead, these techniques include field-of-view
(FoV), voxel ray casting, back-face culling, shape diameter functions, Morse theory,
and critical points. The leading idea is to come up with protein shape segmentation,
much like we commonly do in mesh segmentation in computer graphics. In practice,
protein cavity algorithms are nothing more than segmentation algorithms designed for
proteins.Estruturas macromoleculares tais como as proteínas potencializam processos ou funções
celulares. Estas funções resultam das interações entre proteínas e peptídeos, substratos
catalíticos, nucleótideos, ou até mesmo substâncias químicas produzidas pelo
homem. Assim, há vários tipos de interacções: proteína-ligante, proteína-proteína,
proteína-DNA e assim por diante. Além disso, estas interações geralmente ocorrem em
regiões conhecidas como locais de ligação (binding sites, do inglês) e só acontecem sob
condições de complementaridade química e de forma. É também importante referir que
uma proteína pode ser estruturada em quatro níveis. A estrutura primária que consiste
em sequências de aminoácidos (ou cadeias), a estrutura secundária que compreende
essencialmente por hélices e folhas , que são subsequências (ou subdomínios) dos
aminoácidos da estrutura primária, a estrutura terciária que resulta da composição de
subdomínios em domínios, que por sua vez representa a forma geométrica da proteína,
e por fim a estrutura quaternária que é o resultado da agregação de duas ou mais estruturas
terciárias. Este último nível estrutural é frequentemente conhecido por um
complexo proteico.
Esta tese enquadra-se no âmbito da conceção de fármacos baseados em estrutura e no
acoplamento de proteínas. Mais especificamente, aborda-se o problema fundamental
da deteção e identificação de cavidades que são frequentemente vistos como possíveis
locais de ligação (putative binding sites, do inglês) para os seus ligantes (ligands, do
inglês). De forma geral, os algoritmos de identificação de cavidades dividem-se em três
categorias principais: baseados em energia, geometria ou evolução. Os métodos evolutivos
baseiam-se em estimativas de conservação das sequências evolucionárias. Isto é,
estes métodos permitem detectar locais funcionais através do cálculo da conservação
evolutiva das posições dos aminoácidos das proteínas. Em relação aos métodos baseados
em energia estes baseiam-se no cálculo das energias de interação entre átomos
da proteína e do ligante. Por fim, os algoritmos geométricos baseiam-se na análise da
forma geométrica da proteína para identificar cavidades. Esta tese foca-se nos métodos
geométricos.
Apresentamos nesta tese três novos algoritmos geométricos para detecção de cavidades
em proteínas. A principal contribuição desta tese está no uso de técnicas de computação
gráfica na análise e reconhecimento de cavidades em proteínas, muito no espírito da
modelação e visualização molecular. Como pode ser visto mais à frente, estas técnicas
incluem o field-of-view (FoV), voxel ray casting, back-face culling, funções de diâmetro
de forma, a teoria de Morse, e os pontos críticos. A ideia principal é segmentar a
proteína, à semelhança do que acontece na segmentação de malhas em computação
gráfica. Na prática, os algoritmos de detecção de cavidades não são nada mais que
algoritmos de segmentação de proteínas
A Survey of Surface Reconstruction from Point Clouds
International audienceThe area of surface reconstruction has seen substantial progress in the past two decades. The traditional problem addressed by surface reconstruction is to recover the digital representation of a physical shape that has been scanned, where the scanned data contains a wide variety of defects. While much of the earlier work has been focused on reconstructing a piece-wise smooth representation of the original shape, recent work has taken on more specialized priors to address significantly challenging data imperfections, where the reconstruction can take on different representations – not necessarily the explicit geometry. We survey the field of surface reconstruction, and provide a categorization with respect to priors, data imperfections, and reconstruction output. By considering a holistic view of surface reconstruction, we show a detailed characterization of the field, highlight similarities between diverse reconstruction techniques, and provide directions for future work in surface reconstruction
Scalable exploration of highly detailed and annotated 3D models
With the widespread availability of mobile graphics terminals andWebGL-enabled browsers, 3D
graphics over the Internet is thriving. Thanks to recent advances in 3D acquisition and modeling
systems, high-quality 3D models are becoming increasingly common, and are now potentially
available for ubiquitous exploration.
In current 3D repositories, such as Blend Swap, 3D Café or Archive3D, 3D models available for
download are mostly presented through a few user-selected static images. Online exploration is
limited to simple orbiting and/or low-fidelity explorations of simplified models, since photorealistic
rendering quality of complex synthetic environments is still hardly achievable within the
real-time constraints of interactive applications, especially on on low-powered mobile devices or
script-based Internet browsers.
Moreover, navigating inside 3D environments, especially on the now pervasive touch devices,
is a non-trivial task, and usability is consistently improved by employing assisted navigation
controls. In addition, 3D annotations are often used in order to integrate and enhance the visual
information by providing spatially coherent contextual information, typically at the expense of
introducing visual cluttering.
In this thesis, we focus on efficient representations for interactive exploration and understanding
of highly detailed 3D meshes on common 3D platforms. For this purpose, we present several
approaches exploiting constraints on the data representation for improving the streaming and
rendering performance, and camera movement constraints in order to provide scalable navigation
methods for interactive exploration of complex 3D environments.
Furthermore, we study visualization and interaction techniques to improve the exploration
and understanding of complex 3D models by exploiting guided motion control techniques to aid
the user in discovering contextual information while avoiding cluttering the visualization.
We demonstrate the effectiveness and scalability of our approaches both in large screen museum
installations and in mobile devices, by performing interactive exploration of models ranging
from 9Mtriangles to 940Mtriangles
Sensor Signal and Information Processing II
In the current age of information explosion, newly invented technological sensors and software are now tightly integrated with our everyday lives. Many sensor processing algorithms have incorporated some forms of computational intelligence as part of their core framework in problem solving. These algorithms have the capacity to generalize and discover knowledge for themselves and learn new information whenever unseen data are captured. The primary aim of sensor processing is to develop techniques to interpret, understand, and act on information contained in the data. The interest of this book is in developing intelligent signal processing in order to pave the way for smart sensors. This involves mathematical advancement of nonlinear signal processing theory and its applications that extend far beyond traditional techniques. It bridges the boundary between theory and application, developing novel theoretically inspired methodologies targeting both longstanding and emergent signal processing applications. The topic ranges from phishing detection to integration of terrestrial laser scanning, and from fault diagnosis to bio-inspiring filtering. The book will appeal to established practitioners, along with researchers and students in the emerging field of smart sensors processing