110,613 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)
Hashmod: A Hashing Method for Scalable 3D Object Detection
We present a scalable method for detecting objects and estimating their 3D
poses in RGB-D data. To this end, we rely on an efficient representation of
object views and employ hashing techniques to match these views against the
input frame in a scalable way. While a similar approach already exists for 2D
detection, we show how to extend it to estimate the 3D pose of the detected
objects. In particular, we explore different hashing strategies and identify
the one which is more suitable to our problem. We show empirically that the
complexity of our method is sublinear with the number of objects and we enable
detection and pose estimation of many 3D objects with high accuracy while
outperforming the state-of-the-art in terms of runtime.Comment: BMVC 201
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