9,168 research outputs found
Surface Denoising based on Normal Filtering in a Robust Statistics Framework
During a surface acquisition process using 3D scanners, noise is inevitable
and an important step in geometry processing is to remove these noise
components from these surfaces (given as points-set or triangulated mesh). The
noise-removal process (denoising) can be performed by filtering the surface
normals first and by adjusting the vertex positions according to filtered
normals afterwards. Therefore, in many available denoising algorithms, the
computation of noise-free normals is a key factor. A variety of filters have
been introduced for noise-removal from normals, with different focus points
like robustness against outliers or large amplitude of noise. Although these
filters are performing well in different aspects, a unified framework is
missing to establish the relation between them and to provide a theoretical
analysis beyond the performance of each method.
In this paper, we introduce such a framework to establish relations between a
number of widely-used nonlinear filters for face normals in mesh denoising and
vertex normals in point set denoising. We cover robust statistical estimation
with M-smoothers and their application to linear and non-linear normal
filtering. Although these methods originate in different mathematical theories
- which include diffusion-, bilateral-, and directional curvature-based
algorithms - we demonstrate that all of them can be cast into a unified
framework of robust statistics using robust error norms and their corresponding
influence functions. This unification contributes to a better understanding of
the individual methods and their relations with each other. Furthermore, the
presented framework provides a platform for new techniques to combine the
advantages of known filters and to compare them with available methods
Airborne LiDAR for DEM generation: some critical issues
Airborne LiDAR is one of the most effective and reliable means of terrain data collection. Using LiDAR data for DEM generation is becoming a standard practice in spatial related areas. However, the effective processing of the raw LiDAR data and the generation of an efficient and high-quality DEM remain big challenges. This paper reviews the recent advances of airborne LiDAR systems and the use of
LiDAR data for DEM generation, with special focus on LiDAR data filters, interpolation methods, DEM resolution, and LiDAR data reduction. Separating LiDAR points into ground and non-ground is the most critical and difficult step for
DEM generation from LiDAR data. Commonly used and most recently developed LiDAR filtering methods are presented. Interpolation methods and choices of suitable interpolator and DEM resolution for LiDAR DEM generation are discussed in detail. In order to reduce the data redundancy and increase the efficiency in terms of storage
and manipulation, LiDAR data reduction is required in the process of DEM generation. Feature specific elements such as breaklines contribute significantly to DEM quality. Therefore, data reduction should be conducted in such a way that critical elements are kept while less important elements are removed. Given the highdensity
characteristic of LiDAR data, breaklines can be directly extracted from LiDAR data. Extraction of breaklines and integration of the breaklines into DEM generation are presented
Feature preserving smoothing of 3D surface scans
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, February 2004.Includes bibliographical references (p. 63-70).With the increasing use of geometry scanners to create 3D models, there is a rising need for effective denoising of data captured with these devices. This thesis presents new methods for smoothing scanned data, based on extensions of the bilateral filter to 3D. The bilateral filter is a non-linear, edge-preserving image filter; its extension to 3D leads to an efficient, feature preserving filter for a wide class of surface representations, including points and "polygon soups."by Thouis Raymond Jones.S.M
Security Evaluation of Support Vector Machines in Adversarial Environments
Support Vector Machines (SVMs) are among the most popular classification
techniques adopted in security applications like malware detection, intrusion
detection, and spam filtering. However, if SVMs are to be incorporated in
real-world security systems, they must be able to cope with attack patterns
that can either mislead the learning algorithm (poisoning), evade detection
(evasion), or gain information about their internal parameters (privacy
breaches). The main contributions of this chapter are twofold. First, we
introduce a formal general framework for the empirical evaluation of the
security of machine-learning systems. Second, according to our framework, we
demonstrate the feasibility of evasion, poisoning and privacy attacks against
SVMs in real-world security problems. For each attack technique, we evaluate
its impact and discuss whether (and how) it can be countered through an
adversary-aware design of SVMs. Our experiments are easily reproducible thanks
to open-source code that we have made available, together with all the employed
datasets, on a public repository.Comment: 47 pages, 9 figures; chapter accepted into book 'Support Vector
Machine Applications
Learning and Matching Multi-View Descriptors for Registration of Point Clouds
Critical to the registration of point clouds is the establishment of a set of
accurate correspondences between points in 3D space. The correspondence problem
is generally addressed by the design of discriminative 3D local descriptors on
the one hand, and the development of robust matching strategies on the other
hand. In this work, we first propose a multi-view local descriptor, which is
learned from the images of multiple views, for the description of 3D keypoints.
Then, we develop a robust matching approach, aiming at rejecting outlier
matches based on the efficient inference via belief propagation on the defined
graphical model. We have demonstrated the boost of our approaches to
registration on the public scanning and multi-view stereo datasets. The
superior performance has been verified by the intensive comparisons against a
variety of descriptors and matching methods
- …