12,881 research outputs found

    Dense Piecewise Planar RGB-D SLAM for Indoor Environments

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    The paper exploits weak Manhattan constraints to parse the structure of indoor environments from RGB-D video sequences in an online setting. We extend the previous approach for single view parsing of indoor scenes to video sequences and formulate the problem of recovering the floor plan of the environment as an optimal labeling problem solved using dynamic programming. The temporal continuity is enforced in a recursive setting, where labeling from previous frames is used as a prior term in the objective function. In addition to recovery of piecewise planar weak Manhattan structure of the extended environment, the orthogonality constraints are also exploited by visual odometry and pose graph optimization. This yields reliable estimates in the presence of large motions and absence of distinctive features to track. We evaluate our method on several challenging indoors sequences demonstrating accurate SLAM and dense mapping of low texture environments. On existing TUM benchmark we achieve competitive results with the alternative approaches which fail in our environments.Comment: International Conference on Intelligent Robots and Systems (IROS) 201

    Structured Light-Based 3D Reconstruction System for Plants.

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    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

    3D microwave tomography with huber regularization applied to realistic numerical breast phantoms

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    Quantitative active microwave imaging for breast cancer screening and therapy monitoring applications requires adequate reconstruction algorithms, in particular with regard to the nonlinearity and ill-posedness of the inverse problem. We employ a fully vectorial three-dimensional nonlinear inversion algorithm for reconstructing complex permittivity profiles from multi-view single-frequency scattered field data, which is based on a Gauss-Newton optimization of a regularized cost function. We tested it before with various types of regularizing functions for piecewise-constant objects from Institut Fresnel and with a quadratic smoothing function for a realistic numerical breast phantom. In the present paper we adopt a cost function that includes a Huber function in its regularization term, relying on a Markov Random Field approach. The Huber function favors spatial smoothing within homogeneous regions while preserving discontinuities between contrasted tissues. We illustrate the technique with 3D reconstructions from synthetic data at 2GHz for realistic numerical breast phantoms from the University of Wisconsin-Madison UWCEM online repository: we compare Huber regularization with a multiplicative smoothing regularization and show reconstructions for various positions of a tumor, for multiple tumors and for different tumor sizes, from a sparse and from a denser data configuration

    Anatomical curve identification

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    Methods for capturing images in three dimensions are now widely available, with stereo-photogrammetry and laser scanning being two common approaches. In anatomical studies, a number of landmarks are usually identified manually from each of these images and these form the basis of subsequent statistical analysis. However, landmarks express only a very small proportion of the information available from the images. Anatomically defined curves have the advantage of providing a much richer expression of shape. This is explored in the context of identifying the boundary of breasts from an image of the female torso and the boundary of the lips from a facial image. The curves of interest are characterised by ridges or valleys. Key issues in estimation are the ability to navigate across the anatomical surface in three-dimensions, the ability to recognise the relevant boundary and the need to assess the evidence for the presence of the surface feature of interest. The first issue is addressed by the use of principal curves, as an extension of principal components, the second by suitable assessment of curvature and the third by change-point detection. P-spline smoothing is used as an integral part of the methods but adaptations are made to the specific anatomical features of interest. After estimation of the boundary curves, the intermediate surfaces of the anatomical feature of interest can be characterised by surface interpolation. This allows shape variation to be explored using standard methods such as principal components. These tools are applied to a collection of images of women where one breast has been reconstructed after mastectomy and where interest lies in shape differences between the reconstructed and unreconstructed breasts. They are also applied to a collection of lip images where possible differences in shape between males and females are of interest
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