50,446 research outputs found
Constrained Texture Mapping And Foldover-free Condition
Texture mapping has been widely used in image
processing and graphics to enhance the realism of CG scenes.
However to perfectly match the feature points of a 3D model
with the corresponding pixels in texture images, the
parameterisation which maps a 3D mesh to the texture space
must satisfy the positional constraints. Despite numerous
research efforts, the construction of a mathematically robust
foldover-free parameterisation subject to internal constraints
is still a remaining issue. In this paper, we address this
challenge by developing a two-step parameterisation method.
First, we produce an initial parameterisation with a method
traditionally used to solve structural engineering problems,
called the bar-network. We then derive a mathematical
foldover-free condition, which is incorporated into a Radial
Basis Function based scheme. This method is therefore able to
guarantee that the resulting parameterization meets the hard
constraints without foldovers
Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
Existing simultaneous localization and mapping (SLAM) algorithms are not
robust in challenging low-texture environments because there are only few
salient features. The resulting sparse or semi-dense map also conveys little
information for motion planning. Though some work utilize plane or scene layout
for dense map regularization, they require decent state estimation from other
sources. In this paper, we propose real-time monocular plane SLAM to
demonstrate that scene understanding could improve both state estimation and
dense mapping especially in low-texture environments. The plane measurements
come from a pop-up 3D plane model applied to each single image. We also combine
planes with point based SLAM to improve robustness. On a public TUM dataset,
our algorithm generates a dense semantic 3D model with pixel depth error of 6.2
cm while existing SLAM algorithms fail. On a 60 m long dataset with loops, our
method creates a much better 3D model with state estimation error of 0.67%.Comment: International Conference on Intelligent Robots and Systems (IROS)
201
KCRC-LCD: Discriminative Kernel Collaborative Representation with Locality Constrained Dictionary for Visual Categorization
We consider the image classification problem via kernel collaborative
representation classification with locality constrained dictionary (KCRC-LCD).
Specifically, we propose a kernel collaborative representation classification
(KCRC) approach in which kernel method is used to improve the discrimination
ability of collaborative representation classification (CRC). We then measure
the similarities between the query and atoms in the global dictionary in order
to construct a locality constrained dictionary (LCD) for KCRC. In addition, we
discuss several similarity measure approaches in LCD and further present a
simple yet effective unified similarity measure whose superiority is validated
in experiments. There are several appealing aspects associated with LCD. First,
LCD can be nicely incorporated under the framework of KCRC. The LCD similarity
measure can be kernelized under KCRC, which theoretically links CRC and LCD
under the kernel method. Second, KCRC-LCD becomes more scalable to both the
training set size and the feature dimension. Example shows that KCRC is able to
perfectly classify data with certain distribution, while conventional CRC fails
completely. Comprehensive experiments on many public datasets also show that
KCRC-LCD is a robust discriminative classifier with both excellent performance
and good scalability, being comparable or outperforming many other
state-of-the-art approaches
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