A Knowledge Integration Framework for 3D Shape Reconstruction

The modern emergence of automation in many industries has given impetus to extensive research into mobile robotics. Novel perception technologies now enable cars to drive autonomously, tractors to till a field automatically and underwater robots to construct pipelines. An essential requirement to facilitate both perception and autonomous navigation is the analysis of the 3D environment using sensors like laser scanners or stereo cameras. 3D sensors generate a very large number of 3D data points in sampling object shapes within an environment, but crucially do not provide any intrinsic information about the environment in which the robots operate with. This means unstructured 3D samples must be processed by application-specific models to enable a robot, for instance, to detect and identify objects and infer the scene geometry for path-planning more efficiently than by using raw 3D data. This thesis specifically focuses on the fundamental task of 3D shape reconstruction and modelling by presenting a new knowledge integration framework for unstructured 3D samples. The novelty lies in the representation of surfaces by algebraic functions with limited support, which enables the extraction of smooth consistent shapes from noisy samples with a heterogeneous density. Moreover, many surfaces in urban environments can reasonably be assumed to be planar, and the framework exploits this knowledge to enable effective noise suppression without loss of detail. This is achieved by using a convex optimization technique which has linear computational complexity. Thus is much more efficient than existing solutions. The new framework has been validated by critical experimental analysis and evaluation and has been shown to increase the accuracy of the reconstructed shape significantly compared to state-of-the-art methods. Applying this new knowledge integration framework means that less accurate, low-cost 3D sensors can be employed without sacrificing the high demands that 3D perception must achieve. This links well into the area of robotic inspection, as for example regarding small drones that use inaccurate and lightweight image sensors

Passive-ocean radial basis function approach to improve temporal gravity recovery from GRACE observations

We present a state-of-the-art approach of passive-ocean Modified Radial Basis Functions (MRBFs) that improves the recovery of time-variable gravity fields from GRACE. As is well known, spherical harmonics (SHs), which are commonly used to recover gravity fields, are orthogonal basis functions with global coverage. However, the chosen SH truncation involves a global compromise between data coverage and obtainable resolution, and strong localized signals may not be fully captured. Radial basis functions (RBFs) provide another representation, which has been proposed in earlier works to be better suited to retrieve regional gravity signals. In this paper, we propose a MRBF approach by embedding the known coastal geometries in the RBF parameterization and imposing global mass conservation and equilibrium behavior of the oceans. Our hypothesis is that, with this physically justified constraint, the GRACE-derived gravity signals can be more realistically partitioned into the land and ocean contributions along the coastlines. We test this new technique to invert monthly gravity fields from GRACE level-1b observations covering 2005-2010, for which the numerical results indicate that: (1) MRBF-based solutions reduce the number of parameters by approximately 10%, and allow for more flexible regularization when compared to ordinary RBF solutions; and (2) the MRBF-derived mass flux is better confined along coastal areas. The latter is particularly tested in the Southern Greenland, and our results indicate that the trend of mass loss from the MRBF solutions is approximately 11% larger than that from the SH solutions, and approximately 4% ∼ 6% larger than that of RBF solutions

Properties of higher order nonlinear diffusion filtering

This paper provides a mathematical analysis of higher order variational methods and nonlinear diffusion filtering for image denoising. Besides the average grey value, it is shown that higher order diffusion filters preserve higher moments of the initial data. While a maximum-minimum principle in general does not hold for higher order filters, we derive stability in the 2-norm in the continuous and discrete setting. Considering the filters in terms of forward and backward diffusion, one can explain how not only the preservation, but also the enhancement of certain features in the given data is possible. Numerical results show the improved denoising capabilities of higher order filtering compared to the classical methods