A General Framework for Flexible Multi-Cue Photometric Point Cloud Registration

The ability to build maps is a key functionality for the majority of mobile robots. A central ingredient to most mapping systems is the registration or alignment of the recorded sensor data. In this paper, we present a general methodology for photometric registration that can deal with multiple different cues. We provide examples for registering RGBD as well as 3D LIDAR data. In contrast to popular point cloud registration approaches such as ICP our method does not rely on explicit data association and exploits multiple modalities such as raw range and image data streams. Color, depth, and normal information are handled in an uniform manner and the registration is obtained by minimizing the pixel-wise difference between two multi-channel images. We developed a flexible and general framework and implemented our approach inside that framework. We also released our implementation as open source C++ code. The experiments show that our approach allows for an accurate registration of the sensor data without requiring an explicit data association or model-specific adaptations to datasets or sensors. Our approach exploits the different cues in a natural and consistent way and the registration can be done at framerate for a typical range or imaging sensor.Comment: 8 page

Robust and Fast 3D Scan Alignment using Mutual Information

This paper presents a mutual information (MI) based algorithm for the estimation of full 6-degree-of-freedom (DOF) rigid body transformation between two overlapping point clouds. We first divide the scene into a 3D voxel grid and define simple to compute features for each voxel in the scan. The two scans that need to be aligned are considered as a collection of these features and the MI between these voxelized features is maximized to obtain the correct alignment of scans. We have implemented our method with various simple point cloud features (such as number of points in voxel, variance of z-height in voxel) and compared the performance of the proposed method with existing point-to-point and point-to- distribution registration methods. We show that our approach has an efficient and fast parallel implementation on GPU, and evaluate the robustness and speed of the proposed algorithm on two real-world datasets which have variety of dynamic scenes from different environments

Simultaneous determination of in situ vertical transitions of color, pore-water metals, and visualization of infaunal activity in marine sediments

The vertical color transition from brown to gray-green in marine sediments is linked to the Fe redox boundary and is commonly used as a proxy for biogeochemical state. We combine time-lapse sediment profile imaging with diffusive gradient thin (DGT) gels to obtain simultaneous in situ measurements of sediment color profiles, pore-water Fe and Mn profiles, and qualitative estimates of faunal activity at the Oyster Ground and North Dogger (North Sea). Analysis of Fe and Mn profiles using generalized additive modeling reveals that high variability between profiles within the sites makes it difficult to determine any intersite differences in trace metal behavior. At the Oyster Ground, the depth of sediment color transition (4.78 +/- 0.76 cm) was not significantly different from the Fe redox boundary (7.67 +/- 4.04 cm). At the North Dogger, there was a significant discrepancy between the depth of the sediment color transition (2.86 +/- 0.78 cm) and the Fe redox boundary (10.17 +/- 1.04 cm), which most likely results from high sulfate reduction rates at the North Dogger, leading to complexation of reduced iron to a form not available to the DGT technique. The differences in the coupling of sediment color and the Fe redox boundary between stations is likely to be related to variations in recent infaunal bioturbation activity, rather than variations in sediment source or fundamental differences in bulk sediment chemistry. Our results highlight the importance of the infaunal community in mediating Fe and Mn cycles, which are key pathways in the degradation of organic matter, and suggest that descriptions of bulk chemistry alone may be insufficient to understand the dynamics of biogeochemical cycling

GASP : Geometric Association with Surface Patches

A fundamental challenge to sensory processing tasks in perception and robotics is the problem of obtaining data associations across views. We present a robust solution for ascertaining potentially dense surface patch (superpixel) associations, requiring just range information. Our approach involves decomposition of a view into regularized surface patches. We represent them as sequences expressing geometry invariantly over their superpixel neighborhoods, as uniquely consistent partial orderings. We match these representations through an optimal sequence comparison metric based on the Damerau-Levenshtein distance - enabling robust association with quadratic complexity (in contrast to hitherto employed joint matching formulations which are NP-complete). The approach is able to perform under wide baselines, heavy rotations, partial overlaps, significant occlusions and sensor noise. The technique does not require any priors -- motion or otherwise, and does not make restrictive assumptions on scene structure and sensor movement. It does not require appearance -- is hence more widely applicable than appearance reliant methods, and invulnerable to related ambiguities such as textureless or aliased content. We present promising qualitative and quantitative results under diverse settings, along with comparatives with popular approaches based on range as well as RGB-D data.Comment: International Conference on 3D Vision, 201

Automatic landmark annotation and dense correspondence registration for 3D human facial images

Dense surface registration of three-dimensional (3D) human facial images holds great potential for studies of human trait diversity, disease genetics, and forensics. Non-rigid registration is particularly useful for establishing dense anatomical correspondences between faces. Here we describe a novel non-rigid registration method for fully automatic 3D facial image mapping. This method comprises two steps: first, seventeen facial landmarks are automatically annotated, mainly via PCA-based feature recognition following 3D-to-2D data transformation. Second, an efficient thin-plate spline (TPS) protocol is used to establish the dense anatomical correspondence between facial images, under the guidance of the predefined landmarks. We demonstrate that this method is robust and highly accurate, even for different ethnicities. The average face is calculated for individuals of Han Chinese and Uyghur origins. While fully automatic and computationally efficient, this method enables high-throughput analysis of human facial feature variation.Comment: 33 pages, 6 figures, 1 tabl

Tuning the bandgap of Cs2AgBiBr6 through dilute tin alloying.

The promise of lead halide hybrid perovskites for optoelectronic applications makes finding less-toxic alternatives a priority. The double perovskite Cs2AgBiBr6 (1) represents one such alternative, offering long carrier lifetimes and greater stability under ambient conditions. However, the large and indirect 1.95 eV bandgap hinders its potential as a solar absorber. Here we report that alloying crystals of 1 with up to 1 atom% Sn results in a bandgap reduction of up to ca. 0.5 eV while maintaining low toxicity. Crystals can be alloyed with up to 1 atom% Sn and the predominant substitution pathway appears to be a ∼2 : 1 substitution of Sn2+ and Sn4+ for Ag+ and Bi3+, respectively, with Ag+ vacancies providing charge compensation. Spincoated films of 1 accommodate a higher Sn loading, up to 4 atom% Sn, where we see mostly Sn2+ substitution for both Ag+ and Bi3+. Density functional theory (DFT) calculations ascribe the bandgap redshift to the introduction of Sn impurity bands below the conduction band minimum of the host lattice. Using optical absorption spectroscopy, photothermal deflection spectroscopy, X-ray absorption spectroscopy, 119Sn NMR, redox titration, single-crystal and powder X-ray diffraction, multiple elemental analysis and imaging techniques, and DFT calculations, we provide a detailed analysis of the Sn content and oxidation state, dominant substitution sites, and charge-compensating defects in Sn-alloyed Cs2AgBiBr6 (1:Sn) crystals and films. An understanding of heterovalent alloying in halide double perovskites opens the door to a wider breadth of potential alloying agents for manipulating their band structures in a predictable manner