81,840 research outputs found
Semantically Guided Depth Upsampling
We present a novel method for accurate and efficient up- sampling of sparse
depth data, guided by high-resolution imagery. Our approach goes beyond the use
of intensity cues only and additionally exploits object boundary cues through
structured edge detection and semantic scene labeling for guidance. Both cues
are combined within a geodesic distance measure that allows for
boundary-preserving depth in- terpolation while utilizing local context. We
model the observed scene structure by locally planar elements and formulate the
upsampling task as a global energy minimization problem. Our method determines
glob- ally consistent solutions and preserves fine details and sharp depth
bound- aries. In our experiments on several public datasets at different levels
of application, we demonstrate superior performance of our approach over the
state-of-the-art, even for very sparse measurements.Comment: German Conference on Pattern Recognition 2016 (Oral
Surface reconstruction of wear in carpets by using a wavelet edge detector
Carpet manufacturers have wear labels assigned to their products by human experts who evaluate carpet samples subjected to accelerated wear in a test device. There is considerable industrial and academic interest in going from human to automated evaluation, which should be less cumbersome and more objective. In this paper, we present image analysis research on videos of carpet surfaces scanned with a 3D laser. The purpose is obtaining good depth Images for an automated system that should have a high percentage of correct assessments for a wide variety of carpets. The innovation is the use of a wavelet edge detector to obtain a more continuously defined surface shape. The evaluation is based on how well the algorithms allow a good linear ranking and a good discriminance of consecutive wear labels. The results show an improved linear ranking for most carpet types, for two carpet types the results are quite significant
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
Attentive Single-Tasking of Multiple Tasks
In this work we address task interference in universal networks by
considering that a network is trained on multiple tasks, but performs one task
at a time, an approach we refer to as "single-tasking multiple tasks". The
network thus modifies its behaviour through task-dependent feature adaptation,
or task attention. This gives the network the ability to accentuate the
features that are adapted to a task, while shunning irrelevant ones. We further
reduce task interference by forcing the task gradients to be statistically
indistinguishable through adversarial training, ensuring that the common
backbone architecture serving all tasks is not dominated by any of the
task-specific gradients. Results in three multi-task dense labelling problems
consistently show: (i) a large reduction in the number of parameters while
preserving, or even improving performance and (ii) a smooth trade-off between
computation and multi-task accuracy. We provide our system's code and
pre-trained models at http://vision.ee.ethz.ch/~kmaninis/astmt/.Comment: CVPR 2019 Camera Read
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A transputer Based Laser Scanning System
This paper presents a transputer-based laser scanner. This is to be integrated into an existing
transputer-based mariufacturing environment to allow rapid construction of' 3-0 models. The approach allows Z-gradient informaticm to be obtained from a 2-D image by illuminating areas of interest with a form of structured light. An active scanning system is described. Simple algorithms are applied to the raw image data to
extract concise information. This foveal analysis greatly reduces the data to be processed, allowing a simple and fast method for analysis. The system primarily consists of a video camera wlhich obliquely views a scene being scanned by a laser. The principle, the procedure, and methods of scanning are described. An overview of the principles of foveal analysis, the prototype experimental system and initial results are presented
Efficient completeness inspection using real-time 3D color reconstruction with a dual-laser triangulation system
In this chapter, we present the final system resulting from the European Project \u201d3DComplete\u201d aimed at creating a low-cost and flexible quality inspection system capable of capturing 2.5D color data for completeness inspection. The system uses a single color camera to capture at the same time 3D data with laser triangulation and color texture with a special projector of a narrow line of white light, which are then combined into a color 2.5D model in real-time. Many examples of completeness inspection tasks are reported which are extremely difficult to analyze with state-of-the-art 2D-based methods. Our system has been integrated into a real production environment, showing that completeness inspection incorporating 3D technology can be readily achieved in a short time at low costs
Event-based Vision: A Survey
Event cameras are bio-inspired sensors that differ from conventional frame
cameras: Instead of capturing images at a fixed rate, they asynchronously
measure per-pixel brightness changes, and output a stream of events that encode
the time, location and sign of the brightness changes. Event cameras offer
attractive properties compared to traditional cameras: high temporal resolution
(in the order of microseconds), very high dynamic range (140 dB vs. 60 dB), low
power consumption, and high pixel bandwidth (on the order of kHz) resulting in
reduced motion blur. Hence, event cameras have a large potential for robotics
and computer vision in challenging scenarios for traditional cameras, such as
low-latency, high speed, and high dynamic range. However, novel methods are
required to process the unconventional output of these sensors in order to
unlock their potential. This paper provides a comprehensive overview of the
emerging field of event-based vision, with a focus on the applications and the
algorithms developed to unlock the outstanding properties of event cameras. We
present event cameras from their working principle, the actual sensors that are
available and the tasks that they have been used for, from low-level vision
(feature detection and tracking, optic flow, etc.) to high-level vision
(reconstruction, segmentation, recognition). We also discuss the techniques
developed to process events, including learning-based techniques, as well as
specialized processors for these novel sensors, such as spiking neural
networks. Additionally, we highlight the challenges that remain to be tackled
and the opportunities that lie ahead in the search for a more efficient,
bio-inspired way for machines to perceive and interact with the world
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