Automatic Class-Specific 3D Reconstruction from a Single Image

Our goal is to automatically reconstruct 3D objects from a single image, by using prior 3D shape models of classes. The shape models, defined as a collection of oriented primitive shapes centered at fixed 3D positions, can be learned from a few labeled images for each class. The 3D class model can then be used to estimate the 3D shape of an object instance, including occluded parts, from a single image. We provide a quantitative evaluation of the shape estimation process on real objects and demonstrate its usefulness in three applications: robot manipulation, object detection, and generating 3D 'pop-up' models from photos

RGB-D datasets using microsoft kinect or similar sensors: a survey

RGB-D data has turned out to be a very useful representation of an indoor scene for solving fundamental computer vision problems. It takes the advantages of the color image that provides appearance information of an object and also the depth image that is immune to the variations in color, illumination, rotation angle and scale. With the invention of the low-cost Microsoft Kinect sensor, which was initially used for gaming and later became a popular device for computer vision, high quality RGB-D data can be acquired easily. In recent years, more and more RGB-D image/video datasets dedicated to various applications have become available, which are of great importance to benchmark the state-of-the-art. In this paper, we systematically survey popular RGB-D datasets for different applications including object recognition, scene classification, hand gesture recognition, 3D-simultaneous localization and mapping, and pose estimation. We provide the insights into the characteristics of each important dataset, and compare the popularity and the difficulty of those datasets. Overall, the main goal of this survey is to give a comprehensive description about the available RGB-D datasets and thus to guide researchers in the selection of suitable datasets for evaluating their algorithms

Structured Light-Based 3D Reconstruction System for Plants.

Camera-based 3D reconstruction of physical objects is one of the most popular computer vision trends in recent years. Many systems have been built to model different real-world subjects, but there is lack of a completely robust system for plants. This paper presents a full 3D reconstruction system that incorporates both hardware structures (including the proposed structured light system to enhance textures on object surfaces) and software algorithms (including the proposed 3D point cloud registration and plant feature measurement). This paper demonstrates the ability to produce 3D models of whole plants created from multiple pairs of stereo images taken at different viewing angles, without the need to destructively cut away any parts of a plant. The ability to accurately predict phenotyping features, such as the number of leaves, plant height, leaf size and internode distances, is also demonstrated. Experimental results show that, for plants having a range of leaf sizes and a distance between leaves appropriate for the hardware design, the algorithms successfully predict phenotyping features in the target crops, with a recall of 0.97 and a precision of 0.89 for leaf detection and less than a 13-mm error for plant size, leaf size and internode distance

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

Depth-Assisted Semantic Segmentation, Image Enhancement and Parametric Modeling

This dissertation addresses the problem of employing 3D depth information on solving a number of traditional challenging computer vision/graphics problems. Humans have the abilities of perceiving the depth information in 3D world, which enable humans to reconstruct layouts, recognize objects and understand the geometric space and semantic meanings of the visual world. Therefore it is significant to explore how the 3D depth information can be utilized by computer vision systems to mimic such abilities of humans. This dissertation aims at employing 3D depth information to solve vision/graphics problems in the following aspects: scene understanding, image enhancements and 3D reconstruction and modeling. In addressing scene understanding problem, we present a framework for semantic segmentation and object recognition on urban video sequence only using dense depth maps recovered from the video. Five view-independent 3D features that vary with object class are extracted from dense depth maps and used for segmenting and recognizing different object classes in street scene images. We demonstrate a scene parsing algorithm that uses only dense 3D depth information to outperform using sparse 3D or 2D appearance features. In addressing image enhancement problem, we present a framework to overcome the imperfections of personal photographs of tourist sites using the rich information provided by large-scale internet photo collections (IPCs). By augmenting personal 2D images with 3D information reconstructed from IPCs, we address a number of traditionally challenging image enhancement techniques and achieve high-quality results using simple and robust algorithms. In addressing 3D reconstruction and modeling problem, we focus on parametric modeling of flower petals, the most distinctive part of a plant. The complex structure, severe occlusions and wide variations make the reconstruction of their 3D models a challenging task. We overcome these challenges by combining data driven modeling techniques with domain knowledge from botany. Taking a 3D point cloud of an input flower scanned from a single view, each segmented petal is fitted with a scale-invariant morphable petal shape model, which is constructed from individually scanned 3D exemplar petals. Novel constraints based on botany studies are incorporated into the fitting process for realistically reconstructing occluded regions and maintaining correct 3D spatial relations. The main contribution of the dissertation is in the intelligent usage of 3D depth information on solving traditional challenging vision/graphics problems. By developing some advanced algorithms either automatically or with minimum user interaction, the goal of this dissertation is to demonstrate that computed 3D depth behind the multiple images contains rich information of the visual world and therefore can be intelligently utilized to recognize/ understand semantic meanings of scenes, efficiently enhance and augment single 2D images, and reconstruct high-quality 3D models