16,497 research outputs found
Rational-operator-based depth-from-defocus approach to scene reconstruction
This paper presents a rational-operator-based approach to depth from defocus (DfD) for the reconstruction of three-dimensional scenes from two-dimensional images, which enables fast DfD computation that is independent of scene textures. Two variants of the approach, one using the Gaussian rational operators (ROs) that are based on the Gaussian point spread function (PSF) and the second based on the generalized Gaussian PSF, are considered. A novel DfD correction method is also presented to further improve the performance of the approach. Experimental results are considered for real scenes and show that both approaches outperform existing RO-based methods
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
The Application of Preconditioned Alternating Direction Method of Multipliers in Depth from Focal Stack
Post capture refocusing effect in smartphone cameras is achievable by using
focal stacks. However, the accuracy of this effect is totally dependent on the
combination of the depth layers in the stack. The accuracy of the extended
depth of field effect in this application can be improved significantly by
computing an accurate depth map which has been an open issue for decades. To
tackle this issue, in this paper, a framework is proposed based on
Preconditioned Alternating Direction Method of Multipliers (PADMM) for depth
from the focal stack and synthetic defocus application. In addition to its
ability to provide high structural accuracy and occlusion handling, the
optimization function of the proposed method can, in fact, converge faster and
better than state of the art methods. The evaluation has been done on 21 sets
of focal stacks and the optimization function has been compared against 5 other
methods. Preliminary results indicate that the proposed method has a better
performance in terms of structural accuracy and optimization in comparison to
the current state of the art methods.Comment: 15 pages, 8 figure
Depth Map Estimation Using Multi-focus Imaging
In this thesis, three different depth map estimation techniques are presented. The first method uses SUSAN operator to detects the features, followed by an exponentially decaying function is employed to transfer the distance of the detected features by giving more weight to the nearer vicinity pixels of feature points, which helps to measure the clarity and depth of pixels. A robust, dual-tree complex wavelets and distance transformation based framework is developed for depth map estimation in second focus measure technique. The shift-invariance and better directionality of dual-tree complex wavelets helps to detects the features efficiently, which helps to estimate the depth of the scene more precisely. In third depth map estimation technique, focus measure is ensure by measuring local orientation energy using a quadrature pair of steerable filters of the detected features. The experiments and results validates the effectiveness of proposed feature based depth map estimation approach
Data-Driven Shape Analysis and Processing
Data-driven methods play an increasingly important role in discovering
geometric, structural, and semantic relationships between 3D shapes in
collections, and applying this analysis to support intelligent modeling,
editing, and visualization of geometric data. In contrast to traditional
approaches, a key feature of data-driven approaches is that they aggregate
information from a collection of shapes to improve the analysis and processing
of individual shapes. In addition, they are able to learn models that reason
about properties and relationships of shapes without relying on hard-coded
rules or explicitly programmed instructions. We provide an overview of the main
concepts and components of these techniques, and discuss their application to
shape classification, segmentation, matching, reconstruction, modeling and
exploration, as well as scene analysis and synthesis, through reviewing the
literature and relating the existing works with both qualitative and numerical
comparisons. We conclude our report with ideas that can inspire future research
in data-driven shape analysis and processing.Comment: 10 pages, 19 figure
Computational multi-depth single-photon imaging
We present an imaging framework that is able to accurately reconstruct multiple depths at individual pixels from single-photon observations. Our active imaging method models the single-photon detection statistics from multiple reflectors within a pixel, and it also exploits the fact that a multi-depth profile at each pixel can be expressed as a sparse signal. We interpret the multi-depth reconstruction problem as a sparse deconvolution problem using single-photon observations, create a convex problem through discretization and relaxation, and use a modified iterative shrinkage-thresholding algorithm to efficiently solve for the optimal multi-depth solution. We experimentally demonstrate that the proposed framework is able to accurately reconstruct the depth features of an object that is behind a partially-reflecting scatterer and 4 m away from the imager with root mean-square error of 11 cm, using only 19 signal photon detections per pixel in the presence of moderate background light. In terms of root mean-square error, this is a factor of 4.2 improvement over the conventional method of Gaussian-mixture fitting for multi-depth recovery.This material is based upon work supported in part by a Samsung Scholarship, the US National Science Foundation under Grant No. 1422034, and the MIT Lincoln Laboratory Advanced Concepts Committee. We thank Dheera Venkatraman for his assistance with the experiments. (Samsung Scholarship; 1422034 - US National Science Foundation; MIT Lincoln Laboratory Advanced Concepts Committee)Accepted manuscrip
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